标题: | 以天花板上多环场摄影机辅助自动车作室内安全监控之研究 A Study on Indoor Security Surveillance by Vision-based Autonomous Vehicle With Omni-cameras on House Ceiling |
作者: | 王建元 Wang, Jian-Yuan 蔡文祥 Tsai, Wen-Hsiang 多媒体工程研究所 |
关键字: | 视觉自动车;安全巡逻;车辆定位;上视摄影机;交棒;vision-based autonomous vehicle;security patrolling;vehicle location;top-view cameras;handoff |
公开日期: | 2008 |
摘要: | 本论文提出了一个以天花板上多环场摄影机辅助自动车做室内安全监控之方法。我们使用一部以无线网路传递控制讯号之自动车,并在其上装置一部摄影机,用以监视室内环境及拍摄入侵者影像。另外使用两部装置在天花板上的鱼眼摄影机协助此自动车做导航。在此研究中,我们提出了一种即时对环境中空地和障碍物做定位的技术,并以计算出的位置建立完整的环境地图及规划自动车的巡逻路线,使自动车可以在复杂的环境中导航并避开障碍物和墙壁。此外,我们亦提出了一种能够适应高度变化的空间对映法,利用推导出的公式计算设置在不同高度的鱼眼摄影机的对映表,以此对映表配合内插法,为环境中的物体进行定位。因为自动车行走时会产生机械误差,我们也提出了四个策略,以修正自动车的位置及方向。此外,我们亦提出了一种追踪入侵者的技术,使用追踨视窗准确地预测及计算人物在扭曲影像中的位置,并在追踨过程中同时记录人物的特征。为了扩大可监视的范围,我们使用了多台装置于天花板上的摄影机,为此我们也提出了一种在多台摄影机下“交棒” (handoff)的技术,使自动车或入侵者从一台摄影机的视野范围移动到另外一台时,能够不间断的被追踪。实验结果证明我们所提出的方法是可行而且有效的。 Vision-based methods for security surveillance using an autonomous vehicle with fixed fish-eye cameras on ceilings in an indoor environment are proposed. An autonomous vehicle controllable by wireless communication and equipped with a camera is used as a test bed and navigates in a room space under the surveillance of multiple fisheye cameras affixed on the ceiling. To learn the information of the unknown room environment in advance, a method is proposed for locating the ground regions, identifying the positions of obstacles, and planning the patrolling paths. The data obtained by the method enable the vehicle to navigate in the complicated room space without collisions with obstacles and walls. Also, a height-adaptive space mapping method is proposed, in which the coordinates of corresponding points in 2-D images and 3-D global spaces are computed by interpolation to form a space mapping table for object localization. Appropriate equations are derived to adapt the table to fish-eye cameras affixed to different ceiling heights. Because the vehicle suffers from mechanic errors, a vehicle location and direction correction method is proposed for correcting the errors according to four strategies. Furthermore, a method for detecting and tracking intruding people is proposed. The approximate position of the person can be predicted first, and the exact position is then calculated via a tracking window in images. Some useful features of the intruding person are computed for person identification. To enlarge the area under surveillance using multiple cameras, the camera handoff problem is also solved by using information of the overlapping regions of the cameras’ fields of view. Experiments for measuring the precisions of the proposed methods and tracking intruding persons were conducted with good results proving the feasibility of the proposed methods. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#GT079657536 http://hdl.handle.net/11536/43542 |
显示于类别: | Thesis |
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