本文提出一種影像式量測方法，用以量測傾斜面上目標物之定位資訊，包含目標物之距離、傾斜角度、以及目標物體之垂直高度。作法上係利用一台數位攝影機，以目標物於不同攝影距離下之像素值，推導出位於傾斜面上目標物之距離、傾斜角度、以及目標物垂直高度關係式，完成目標物體之三維空間定位，並且將此方法使用Altera DE2-70硬體平台，以軟硬體協同設計方法實現於SOPC。最後，本文再以實際的量測定位實驗，驗證所提出之量測方法的準確性及實用性。

This paper presents an image-based system for measuring target objects on an oblique plane based on pixel variation of CCD images by referencing to two arbitrarily designated points in image frames. Based on an established relationship between the displacement of the camera movement along the photographing direction and the difference in pixel counts between reference points in the images, object verticel height distance and photographing distance between the camera and an object on the target plane can be calculated via the proposed method. Because of the advantages demonstrated in measuring target objects on the oblique plane, the proposed approach is capable of acquiring 3-dimensional localization, imformation of the objects.To be practical for use in various applications, we also present a hardware/software (HW/SW) co-design approach using SOPC technique to realize the proposed image-based 3-dimensional localization method.

目錄
目錄	III
圖目錄	VI
表目錄	IX
第一章	緒論	1
1.1	研究背景及動機	1
1.2	研究的目的與方法	4
1.3	論文架構	5
第二章	像素差異法距離量測	7
第三章	像素差異法之傾斜面量測	13
3.1 傾斜角度的量測	13
3.2 傾斜面攝影距離量測	17
3.3 傾斜面上任意兩參考點之間的距離量測	18
3.4 傾斜面上目標物之高度量測	18
3.5 誤差分析	20
第四章	基於像素差異法傾斜面量測之三維空間定位	22
4.1 二維平面定位之定義	22
4.2 二維平面定位之水平寬度量測	24
4.3 二維平面定位之垂直寬度量測	27
4.4 三維空間定位	30
第五章	SOPC之軟硬體協同設計平台	31
5.1 DE2-70多媒體開發平台	31
5.2 D5M擷取模組	35
5.2.1 D5M擷取模組腳位說明	36
5.2.2 D5M影像擷取格式	37
5.2.3 D5M擷取模組訊號時序圖	40
5.3 LTM顯示模組	42
5.3.1 LTM顯示模組腳位說明	44
5.3.2 LTM顯示模組時序圖	45
第六章	三維空間定位法於SOPC之實現	47
6.1 三維空間定位法之設計架構	47
6.1.1 影像擷取流程	50
6.1.2 定位點擷取流程	51
6.1.3 三維空間計算流程	54
6.2 影像處理模組說明	55
6.2.1 RGB Filter模組	56
6.2.2 Location Point Capture模組	57
6.3 三維空間定位法之軟體計算流程	59
第七章	實驗結果	63
7.1 三維空間定位實驗	63
7.1.1 量測條件說明	63
7.1.2 實驗結果	64
7.2 SOPC量測實驗	66
7.2.1 量測條件說明	66
7.2.2 實驗結果	67
7.3 誤差分析實驗	70
第八章	結論與未來研究方向	72
8.1 結論	72
8.2 未來研究方向	73
參考文獻	75

圖目錄
圖2.1 像素差異法距離量測之 位移示意圖	7
圖2.2 像素差異法距離量測之 位移示意圖	8
圖2.3 描繪於不同攝影距離下距離與像素值變化關係示意圖	9
圖3.1 像素差異法之傾斜面量測 位移示意圖	14
圖3.2 像素差異法之傾斜面量測系統示意圖	15
圖3.3 位於傾斜面上之目標物體高度量測示意圖	19
圖4.1像素差異法進行傾斜面上目標物體定位之透視圖	23
圖4.2 立體視角下之傾斜面上目標物體定位示意圖	25
圖4.3 二維平面定位之水平寬度量測示意圖	26
圖4.4 二維平面定位之垂直寬度量測示意圖	28
圖5.1 DE2-70多媒體開發平台	33
圖5.2 DE2-70多媒體開發平台搭配D5M與LTM模組	34
圖5.3 D5M擷取模組	36
圖5.4 D5M擷取模組腳位	37
圖5.5 D5M影像框架	38
圖5.6 CMOS影像訊號	39
圖5.7 Bayer Pattern像素圖	40
圖5.8 D5M擷取模組影像有效資料格式	41
圖5.9 D5M擷取模組時序圖	42
圖5.10 LTM顯示模組	43
圖5.11 LTM顯示模組腳位	44
圖5.12 LCD水平時序圖	46
圖5.13 LCD垂直時序圖	46
圖6.1 三維空間定位法之設計架構圖	48
圖6.2 影像擷取架構圖	50
圖6.3 定位點擷取架構圖	51
圖6.4 目標物(球門柱)經RGB Filter示意圖	52
圖6.5 目標物(球)經RGB Filter示意圖	52
圖6.6 目標物(球門柱)經定位點擷取模組之定位點示意圖	53
圖6.7 目標物(球)經定位點擷取模組之定位點示意圖	53
圖6.8 三維空間計算架構圖	55
圖6.9 RGB Filter模組符號圖	56
圖6.10 Location Point Capture模組符號圖	57
圖 6.11 三維空間定位法之主要流程圖	60
圖 6.12 三維空間定位法之細部流程圖	61
圖7.1目標物於不同位置與不同距離拍攝之實際圖	64
圖7.2 Penalty Kick場地規劃圖	66
圖7.3 Ball與Goal之實際影像處理圖	68
圖7.4實際定位圖	68
圖7.5在量測距離為100cm之最大可能量測角度 誤差圖	70
圖7.6在固定角度為 下之最大可能量測距離 誤差圖	71

表目錄
表5.1 D5M規格參數表	35
表5.2 LTM規格參數表	43
表6.1 RGB Filter模組輸出入訊號說明表	56
表6.2 Location Point Capture模組輸出入訊號說明表	58
表7.1目標物之量測數據	65
表7.2 Ball與Goal之量測數據	69

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