影像處理技術運用於水下障礙物距離估測之研究

The Studies of the Distance-Measuring of Underwater Obstructions by Using the Image Processing Technique

本研究旨在架設一距離測模組，利用影像處理之技術，以雷射光作為輔助，將雷射光投射於待測物上進而估算出待測物與攝影機間的距離。過去利用影像測距多採用立體視覺法，此方法必須架設兩部或以上的攝影機，為了減少攝影機成本支出，以及免除多部攝影機架設之相對誤差，因此本研究採用單一攝影機測距，以點狀或線狀雷射光源輔助，當待測物距離改變時，雷射光於影像中之位置亦不相同，利用幾何原理便可透過影像估測出待測物的距離。經過簡單的實驗驗證。此模組可適用於陸上及水下，具有一定的參考價值。 The purpose of the present study is to install the distance-measuring module based on the image processing technique with laser instrument to estimate the distance of the expected object. The previous image distance-measuring technique usually adopted the stereo image method which needs more than two cameras. In order to reduce the cost and avoid the installation errors between two cameras, the present study applies the single camera to estimate the distance and the point or line laser light is also integrated in the system. When the distance of the object changes, the position of the laser light on the object also changes, consequently the distance of the object can be estimated based on this principle. From the test results, we find that the module developed in the study can he applied to be not only in the air but also in the water, which is helpful to the underwater obstacle-avoidance technique in the future.