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標題: 先進騎乘鳥瞰環景影像之研究
Study on Advanced Riding Panoramic Bird-Eye's View Systems
作者: 余信宏
Hsin-Hung Yu
關鍵字: 環景影像;俯視影像;Panoramic image;top-view image
引用: [1] MoneyDJ理財網, 車用ADAS [2] Alomran, M., and Chai, D.. 'Feature-based panoramic image stitching' In: Control, Automation, Robotics and Vision (ICARCV), 2016 14th International Conference on. IEEE, 2016. p. 1-6. [3] Ha, S. J., Koo, H. I., Lee, S. H., Cho, N. I., and Kim, S. K. 'Panorama mosaic optimization for mobile camera systems.' IEEE Transactions on Consumer Electronics 53.4 (2007). [4] Zhang, Z. 'Flexible camera calibration by viewing a plane from unknown orientations.' Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on. Vol. 1. Ieee, 1999. [5] Zhang. Z. 'A flexible new technique for camera calibration.' IEEE Transactions on pattern analysis and machine intelligence 22 (2000). [6] Yu, C., Fang, X., Tang, S., and Wu, M. 'An imaging method for 360-degree panoramic bird-eye view.' Intelligent Control and Automation (WCICA), 2012 10th World Congress on. IEEE, 2012. [7] Lin, C. C., and Wang, M. S. 'Topview transform model for the vehicle parking assistance system.' Computer Symposium (ICS), 2010 International. IEEE, 2010. [8] Li, J., Xu, W., Zhang, J., Zhang, M., Wang, Z., and Li, X 'Efficient video stitching based on fast structure deformation.' IEEE transactions on cybernetics 45.12 (2015): 2707-2719. [9] Brown, M., and Lowe, D. G. 'Recognising Panoramas.' ICCV. Vol. 3. 2003. [10] 2D projective transformations [11] Hartley, R. I. 'Self-calibration from multiple views with a rotating camera.' European Conference on Computer Vision. Springer, Berlin, Heidelberg, 1994. [12] Camera calibration With OpenCV — OpenCV documentation [13] 阿州的程式教學 相機校正 [14] Zhang, Z. 'Flexible camera calibration by viewing a plane from unknown orientations.' Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on. Vol. 1. Ieee, 1999. [15] 歐拉角 [16] Shoemake, K. 'Animating rotation with quaternion curves.' ACM SIGGRAPH computer graphics. Vol. 19. No. 3. ACM, 1985. [17] 電腦與通訊 360度全景影像/影像拼接技術 [18] Lowe, D. G. 'Distinctive image features from scale-invariant keypoints.' International journal of computer vision 60.2 (2004): 91-110. [19] Wikipedia, Scale-invariant feature transform [20] OpenCV 3.0.0-dev documentation Introduction to SIFT [21] Bay, H., Ess, A., Tuytelaars, T., and Van Gool, L. 'Speeded-up robust features (SURF).' Computer vision and image understanding 110.3 (2008): 346-359. [22] Wikipedia, Speeded up Robust Features [23] OpenCV 3.0.0-dev documentation SURF [24] SIFT 與SURF的比較 [25] Brown, Matthew, and David G. Lowe. 'Automatic panoramic image stitching using invariant features.' International journal of computer vision 74.1 (2007): 59-73. [26] Wikipedia, Random sample consensus [27] Gu, H., Yu Y., and Sun W. 'A new optimal seam selection method for airborne image stitching.' Imaging Systems and Techniques, 2009. IST'09. IEEE International Workshop on. IEEE, 2009. [28] Gao, J., Kim, S. J., and Brown, M. S. 'Constructing image panoramas using dual-homography warping.' Computer Vision and Pattern Recognition (CVPR), 2011 IEEE Conference on. IEEE, 2011. [29] Wikipedia, Dynamic programming [30] Efros, A. A., and Freeman, W. T. 'Image quilting for texture synthesis and transfer.' Proceedings of the 28th annual conference on Computer graphics and interactive techniques. ACM, 2001. [31] Xiong, Y., and Turkowski, K. 'Registration, calibration and blending in creating high quality panoramas.' Applications of Computer Vision, 1998. WACV'98. Proceedings., Fourth IEEE Workshop on. IEEE, 1998. [32] Uyttendaele, M., Eden A., and Skeliski, R. 'Eliminating ghosting and exposure artifacts in image mosaics.' Computer Vision and Pattern Recognition, 2001. CVPR 2001. Proceedings of the 2001 IEEE Computer Society Conference on. Vol. 2. IEEE, 2001. [33] Wikipedia, Pyramid (image processing) [34] Burt, P. J., and Adelson, E. H. 'The Laplacian pyramid as a compact image code.' Readings in Computer Vision. 1987. 671-679. [35] Adelson, E. H., Anderson, C. H., Bergen, J. R., Burt, P. J., and Ogden, J. M. 'Pyramid methods in image processing.' RCA engineer 29.6 (1984): 33-41.
此系統利用架設在騎乘載具四周的攝影機,取得影像來源,藉由此四張不同方向的影像來完成鳥瞰式環景影像。此系統除了傳統的鳥瞰影像,還有跟以往不同的鳥瞰方式,利用不同視角的方式來呈現不同的鳥瞰影像,可以提供不一樣的視覺感知,讓用路人可以收到不同的車況路況資訊,盡可能的提前預防可以會發生的危險,達到安全的駕駛。此研究目標有三大設計挑戰以及研究課題: 〈一〉從一般影像到鳥瞰影像的形成方法;〈二〉利用鳥瞰影像完成環景影像的方法;〈三〉即時的影像輸出,由於攝影機是採用廣角鏡頭,所以利用棋盤格的方式來校正影像,徑而再利用影像變形來取得俯視影像,接著使用影像融合的方法來完成鳥瞰環景影像。
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