| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程系 === 104 === The main objective of this thesis is to create an around view for drivers in automatic driver assistance system. We transform the four around images into bird's eye images and stitch them together. Eventually, we can get the stitched bird's eye images surround our vehicle. Furthermore, drivers can be informed by this image where the obstructions or the pedestrians are. This system can also increase safety driving on road.
This thesis is divided into three parts. The first part is bird's eye image transformation. We transform images into bird's eye images because the top view is widest view which is used to observe the obstacles around the vehicle. The second part is the image matching. In this section, we have to find out the feature points which may be corners or some obvious points on the images. We use Harris Corner detector to find out the feature points on the images. After finding out these feature points, we use the gradient vector to represent these feature points. Then, we use these gradient vectors to match images and use RANSAC algorithm to filter out the mismatches. The third part is the bird's eye image stitching. In this section, we use the results of the second part to calculate the image stitching matrix. Finally, we stitch four direction bird's-eye image to complete the surround bird's eye image.
To achieve Around View for Driver Assistance System, we use four cameras with 640 × 480 images and show the bird's eye image on the screen. Experimental results show that our system can reach 28 FPS.
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