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題名 | 基於影像處理障礙物分佈模型之建立=Establishment of Obstacle Distribution Model Based on Image Process |
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作者 | 周利蔚; 蔡樸生; | 書刊名 | 南臺科技大學學報 |
卷期 | 32 2007.12[民96.12] |
頁次 | 頁71-81 |
分類號 | 312.13 |
關鍵詞 | 影像處理; 障礙物分佈模型; 邊點序向排列法; 轉折點偵測演算法; 向量內積偵測演算法; Boundary sequence method; Corner detection algorithm; Inner product detection; Smooth scaling; Digital errors; |
語文 | 中文(Chinese) |
中文摘要 | 本文的目的是以影像處理為基礎來建立環境中障礙物體之分佈模型。首先,提出邊點序向排列法,將所有物體的邊點座標進行有序排列,除了決定每個邊點之間的鏈結關係外,並且將影像中的物體作個別分類。其次,應用向量內積偵測法、轉折點偵測法來決定圓形物體以及多邊形物體位置、大小及其轉折點座標。本文所採用的向量內積偵測演算法,則是利用圓形幾何性質中的圓周角特性來判斷影像圖片中是否存在圓形物體,計算其圓心、半徑。轉折點偵測演算法,是比較每個邊點前後向量間的夾角之餘弦函數值來決定轉折點的位置。為了解決影像中的數位化誤差,我們引入平滑因子、圓周角門檻值的調整方法及相鄰半徑的構想,來增加偵測的可靠度。最後,以Matlab程式語言完成本文所提出的邊點序向排列、向量內積偵測演算法及轉折點偵測演算法模擬軟體。由模擬結果得知,本文所提出的方法不僅具有可行性,並且擁有極佳的偵測效果。 |
英文摘要 | In this paper, the problem of path planning for autonomous vehicles or mobile robots moving in the exploration of hazardous or complex areas is attacked. The purpose is to establish an obstacle distribution model in a modeled-based environment by image processing techniques. As for the obstacle detection, the boundary sequence method evolved from the chain code is capable of detecting and classifying the objects. The method arranges boundary coordinates for each object in order as well as determines the link relation of each boundary. Applying the geometric characteristics of the circumferential angle, the inner product detection is developed to determine whether there are round objects in the image. If the round objects exist, the center coordinates and the radii of the corresponding circles are evaluated. By adopting the corner detection algorithm, we compare the angles of boundary vector in order to determine the location of corners of each object. To overcome the quantization errors, we present the threshold value adjustment method for the circumferential angle and the smooth scaling for the curvature evaluation. In order to filter the produced spurious corners by quantization errors, this paper introduces a neighborhood radius for the purpose of obtaining the real corners. Simulation results show that the proposed methodology of image process is applicable, and gives good results. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。