融合視差圖與多類路面之偵測器應用於無人自動車之室外導航

Using the Hybrid of Disparity Map and Multi-Classifier for Road Surface Detection in Outdoor Piloting of Autonomous Land Vehicles

陳天祥(Tian-Xiang Chen)

指導教授 ： 駱榮欽

國立臺北科技大學/電資學院/電腦與通訊研究所/碩士(2009年)

https://doi.org/10.6841/NTUT.2009.00324

摘要

自動導航車是以攝影機取代人類的雙眼，以擷取路面資訊。本研究利用視差圖偵測自動導航車前進的路線與各種障礙物，再利用多項路面偵測器。辨別自動導航車是行駛於何種路面，最後再依據各項路面資訊判斷出自動導航車之最佳行駛路徑。我們於戶外沒有路線標示的道路上進行實驗，證明出我們的自動導航車仍具有良好的導航能力。

關鍵字

立體視覺 ； 視差 ； 路面 ； 障礙物 ； 導航 ； 電腦視覺

並列摘要

Similar to the function of human eyes, autonomous land vehicle (ALV) uses camera to acquire road information. In this paper, we adopt disparity map (DM) to detect ALV's march path and various obstacles if may face to. Then we develop several road surface voters to recognize what kind of road surface the ALV drives on. Finally, according to the information we collected, the best navigation can be achieved. After experimenting with our ALV in an outdoor road without pavement markings, the proposed algorithms really work well.

並列關鍵字

Stereo vision ； disparity ； road surface ； obstacle ； piloting ； computer vision

參考文獻

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