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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/71190
Title: | 海面物體偵測 Sea Surface Object Detection |
Authors: | Jun-Hao Huang 黃俊豪 |
Advisor: | 丁肇隆 |
Keyword: | 自動駕駛,卷積神經網路(CNN),全卷積神經網路(FCN),電腦視覺,雙目視覺, Convolutional neural network(CNN),Fully Convolutional Network(FCN),Computer Vision,Stereo Vision, |
Publication Year : | 2018 |
Degree: | 碩士 |
Abstract: | 隨著深度學習(Deep Learning)的蓬勃發展,自動駕駛是近年來最為熱門的研究項目之一,無論是自動駕駛汽車,或是無人飛機都有非常傑出的研究成果,應用到生活中的實際產品也十分的成功。隨著自動駕駛成為了未來的趨勢,我們認為將此技術應用到自動駕駛船舶也能夠獲得很好的成果。現代船舶往往配備多種系統來輔助航行,例如:雷達、聲納等,除了航行外,船舶最為重要的功能是避碰,實時的避免障礙物能夠保證航行的安全,然而在某些情況下,例如:障礙物大小不足以被雷達偵測時,人類仍然需要依靠肉眼來判斷海面上的船隻或是障礙物,因此我們認為電腦視覺能夠成為船舶航行時的輔助系統。近年來,卷積神經網路(Convolutional Neural Network)技術在電腦視覺、影像辨識等應用上獲得非常大的進步與成果,它除了提供強大的計算能力,其深層的架構亦是提供了良好的檢測成果。在本研究中,我們提出了以全卷積神經網路(Fully Convolutional Network, FCN)實現海面障礙物偵測系統,並導入雙目視覺的方法估算出障礙物之距離與方位角,實現船舶避碰之輔助系統。 With the rapid development of deep learning, autopilot is one of the most popular research projects in recent years. Whether autopilot car or drone have a very good research result and the actual product in the real world has a great success. It seems that autopilot is a future trend and we supposed that this technical can do a well job in autopilot assistant system. Modern ships are often equipped with various equipment to assist navigation, for example, radar, sonar, etc. In addition to navigating, the most important system of the ship is to avoid collision at sea. A real-time detected system can avoid ship in danger. However, if the size of the object is not enough to be detected by the radar, human still rely on their vision to detect ships or obstacles on sea surface. Therefore, we believe that computer vision can become a reliable assistant system for navigation. In recent years, Convolutional Neural Network (CNN) has achieved great success in computer vision, image recognition, and other applications. CNN provides powerful computing ability and its deep architecture also provides reliable test results. In this research, we proposed a sea surface object detection system using Fully Convolutional Network (FCN) and imported stereo vision to estimate the distance and azimuth of the object to achieving an assistant system for navigation. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/71190 |
DOI: | 10.6342/NTU201802014 |
Fulltext Rights: | 有償授權 |
Appears in Collections: | 工程科學及海洋工程學系 |
Files in This Item:
File | Size | Format | |
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ntu-107-1.pdf Restricted Access | 18.86 MB | Adobe PDF |
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