針對安全攸關之嵌入式即時系統的異質性資訊融合

Heterogeneous Sensing Fusion for Safety Critical Embedded Real-time Systems

古君葳(Chun-Wei Ku)

指導教授 ： 施吉昇

國立臺灣大學/電機資訊學院/資訊工程學研究所/碩士(2018年)

https://doi.org/10.6342/NTU201800542

摘要

無資料

關鍵字

異質性資訊融合 ； 異質性影像感測器系統 ； 緊急煞車輔助系統 ； 物體偵測

並列摘要

Nowadays, the bulk of these road collisions is caused by human unawareness or distraction. Since the most important thing is your safety and the safety of others, ADAS is developed to support enhanced vehicle system for safety and better driving. AEBS as an important part of the ADAS has become a hot research topic. Computer vision, together with Radar and Lidar, is at the forefront of technologies that enable the evolution of AEBS. Since the cost of long range radar and lidar is very high, we want to use camera-based system to construct AEBS. Instead of using a single monocular camera, we propose a heterogeneous camera-based system to use sensor fusion to combine the strengths of all the difference FoV cameras. Also,We use a heuristic false positive removal method to decrease the false positive rate that caused by the sensor fusion method. We optimize the sensor fusion method Because of the the limitation of computing resource on embedded system. As a result, the recall of YOLO can be increased up to 10% through our heterogeneous camera-based system.

並列關鍵字

Heterogeneous Sensing Fusion ； Heterogeneous Camera-Based Sytem ； Tri-focal camera ； AEBS ； Object Detection

參考文獻

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