研究生: |
陳頎夫 Chi-fu chen |
---|---|
論文名稱: |
應用電腦視覺於隧道內定位之初探 Preliminary Study of Localization in Tunnels Using Computer Vision |
指導教授: |
謝佑明
Yo-ming Hsieh |
口試委員: |
陳鴻銘
Hung-Ming Chen 廖國偉 K. W. Liao 王泰典 Tai-Tien Wang |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 營建工程系 Department of Civil and Construction Engineering |
論文出版年: | 2012 |
畢業學年度: | 100 |
語文別: | 中文 |
論文頁數: | 84 |
中文關鍵詞: | 電腦視覺 、定位 、隧道 、目視檢查 |
外文關鍵詞: | computer vision, localization, tunnel, visual inspection |
相關次數: | 點閱:201 下載:6 |
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由於台灣地區為超過2/3的多山地形,因此隧道成為重要的基本建設。對於隧道的保養與管理工作中,定期的檢查為確保隧道之安全性與可正常運作所必要的措施,而目視檢查則為最常被使用的方法。在目視檢查過程中,隧道內的異狀與發生位置均需被記錄,以作為後續處理參考。但在實際執行上,位置資訊僅由檢測者大略的推測與記錄,而可能在此人工操作的過程當中引入錯誤。
目前能在隧道內提供可靠位置資訊且廉價的方案是不存在的。全球定位系統(GPS)在隧道內無法運作。大部份能在隧道中提供位置資訊的方案均需要事先設置好圖形或無線電標記,然這些標記則造成額外的購置與維護成本。而使用陀螺儀與加速感測器構成的慣性導航系統則具有誤差累積的缺點。
本研究建立一套透過電腦立體視覺做為提供隧道內位置資訊之演算法,並利用市售網路攝影機與一般筆記型電腦搭配常見之電腦視覺函式庫(OpenCV)開發系統雛型,並對所開發出來之演算法與系統進行評估。初步結果表示方法可行,但若要在未來投入實務應用時仍有改進的空間。
Tunnels are important infrastructures in Taiwan, because two third of the island is occupied by mountains. To maintain and manage these tunnels, regular tunnel inspections are necessary in order to keep them in working and safe conditions. Visual inspection is the most frequent inspection type performed, and it is the first defense to discover unfavorable conditions. During visual inspections, anomalies and their locations are recorded, and further actions are scheduled accordingly. In practice, locations are roughly estimated and recorded by inspectors. Errors can thus be introduced during this manual process.
Currently reliable and inexpensive automated systems that can provide positioning information in tunnels do not exist. The global positioning system (GPS) does not work in tunnels. Most viable solutions in tunnels require installations space registration markers or radios with known locations. These markers, however, incur additional cost for installation and maintenance. Inertia navigation systems using gyroscopes or accelerometers without markers may introduce and accumulate positioning errors.
In this work, an automated localization system in tunnels using computer stereo vision is studied, and a prototype system is developed and evaluated. The fundamental algorithm for localization in tunnels using computer vision is developed. It is then evaluated by implementing a prototype system using two commercial available webcams, a well-known computer vision library (OpenCV), and a laptop computer. Preliminary results suggest the method developed can work, but further enhancements are necessary to realize the system with practical values.
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