NG DNG NHN DNG BIN BO GIAO THNG Cc cng vic cn thc hin: M t bi ton M hnh gii quyt bi ton

Thit k chng trnh Thc nghim M T Bi Ton t vn Bin bo giao thng l cch thc thng bo cho ngi tham gia giao thng tnh trng ng, a ra nhng ch dn, hay cnh bo gip ngi tham gia giao thng x l v a ra nhng hnh vi hp l, m bo an ton giao thng. Mi ngi tham gia giao thng i hi phi nm bt v hiu ht ton b ngha ca tt c cc bin bo giao thng. Vic ny tr nn kh kh khn khi s lng bin bo qu ln. Hn th na vic pht hin bin bo tr nn phc tp khi m cc yu t ngoi cnh tc ng. Bin bo c th b h hi khi tip xc mt thi gian di di nh nng mt tri. Mu sc b thay i trong cc iu kin sng m, nh sng yu ban m, bin bo b che khut bi nh ca, cy ci V nhng l do trn, nhm mong mun xy dng mt ng dng n gin cho php ngi dng c th tra cu trc quan thng tin ca bin bo khi khng nh ni dung bin bo ny, pht trin hn na v sau c th l tch hp hoc kt ni ti cc phng tin giao thng v a ra cc cnh bo thch hp. Chc nng chnh c bn ca ng dng l tra cu thng tin trc quan ng dng s t ng pht hin (detect) cc khu vc c hnh dng bin bo v xut hnh nh cng thng tin bin bo m ng dng nhn ra.

i tng ca bi ton: i tng ca bi ton l cc bin bo giao thng ca Vit Nam. Trong gii hn ca bo co ny chng ta s xt ti cc bin bo giao thng ng b. S lng bin bo giao thng ng b ca Vit Nam khong hn 200 bin bo v chia lm nhiu dng: Bin bo cm ng b Vit Nam Cc bin bo loi ny thng c hnh dng trn vi vin bao xung quanh mu c trng, c bit c mt s bin bo khng thuc dng trn nhng s lng khng ng k. Bin hiu lnh ng b Vit Nam Cc bin bo loi ny thng c hnh dng trn vi nn mu xanh c trng, c bit c mt s bin bo c ng k sc ct ngang. Bin bo nguy him ng b Vit Nam Cc bin bo loi ny thng c hnh dng tam gic vi vin bao xung quanh mu c trng, nn vng, c bit c mt s bin bo khng phi hnh tam gic.

Ngoi cc dng bin bo trn th cn c bin ch dn hnh ch nht, bin ph ng b, vch k ng V tnh cht phc tp ca cc loi bin bo ny m lun vn s khng nghin cu n. Gii hn lun vn ch tp trung vo nhn bit 3 loi bin bo pha trn. M Hnh Gii Quyt Bi Ton M hnh tng qut gii quyt bi ton pht hin v nhn dng bin bo giao thng, nhm xut m hnh 4 bc chia lm 2 giai on nh sau:

Giai on x l nh (Image Processing State): Mc ch cui cng ca giai on ny l thu c hnh nh ca bin bo giao thng cn nhn dng. Bc u tin l thu thp d liu hnh nh nn khung cnh (Capture Image). Hnh nh thu c thng qua camera ca thit b c th l d liu tnh (chp hnh) hoc dng real-time (x l trn tng frame ca video). V thit b s dng l thit b k thut s nn nh thu c s l nh c s ha. Trn d liu nh ny ty theo iu kin mi trng m c bin php thch hp nng cao cht lng nh, lc nhiu, chnh sng Bc th hai trong giai on ny l pht hin bin bo v trch xut vng c trng (Sign detection and ROI Extraction). Bng cc thut ton x l nh thch hp v da trn c trng c th ca bin bo giao thng Vit Nam m ng dng s x l trn nh thu nhn t bc mt, lc b nh nn, pht hin v trch xut cc khu vc c trng c kh nng l hnh nh ca bin bo. Kt qu thu c sau giai on ny l 1 tp cc hnh nh bin bo giao thng lc b hnh nn m ng dng pht hin

c.

Giai on tnh ton mng Nron (Neutral Network State): giai on ny hnh nh c kh nng l bin bo giao thng thu c giai on trc s c x l v nhn dng. Trc ht cc hnh nh ny s c thay i kch thc li theo mt mu chun (thut ng ting anh gi l blob). Mu chun ny s c kch thc 30*30 pixel. T cc mu ny, d liu c x l v chuyn thnh mt dng khc m mng noron c th x l (bc ny gi l tin nhn dng Pre_recognized). Kt qu thu c s l mt tp cc gi tr input u vo cho mng noron. Bc cui cng trong giai on ny chnh l tnh ton trong mng noron. Tp gi tr input s c a vo mng, cc tnh ton s c thc hin v lan truyn trong mng cho n khi ti u ra ca mng. Bn cht mng noron ny c hun luyn da trn mt tp mu cc bin bo giao thng trc . T kt qu ca u ra ca mng noron ta c th xc nh c tn ca bin bo giao thng nu bin bo ny c mng noron hc trc . Kh khn ch yu trong giai on ny l kh nng nhn dng bin bo s l khng cao nu hnh nh cn nhn dng khc bit qu nhiu so vi tp mu m mng noron c hc. Mng noron c hc cng nhiu mu ca mt loi bin bo th kh nng nhn dng ra bin bo cng cao, iu ny ng ngha vi vic s lng noron ca mng ln, tc x l chm hn v thi gian hun luyn mng lu hn. Thu nhn hnh nh (Capture Image) Giai on u tin trong h thng pht hin v nhn dng bin bo l bc thu nhn nh. Nh trnh by, d l chp hnh hay quay phim th thc cht i tng ta thu c t camera chnh l frame hnh. Hnh nh ny l d liu c s ha. C th do mt s yu t ngoi cnh dn ti hnh nh thu c b m hoc nhiu, v vy trong bc ny i hi cn thc hin mt s thao tc nng cao cht lng nh.

Cc thut ton c th p dng nng cao cht lng nh bao gm nh lm mn nh bng thut ton Smooth Gaussian, gim mu (downsample) v tng mu upsample) bng Gaussian Pyramid Vic ci t cc gii thut ny s c th vin x l nh OpenCV h tr. Pht hin bin bo v trch xut vng c trng Mc ch ca giai on ny l tm ra c hay khng khu vc c c trng ging nh m t ca mt bin bo trn nn khung cnh. Sau t d liu ny s lc b ton b hnh nn, ch trch xut li hnh nh ca mi bin bo. c trng pht hin bin bo c trng dng nhn dng bin bo l i tng c vin bao mu hoc mu xanh, dng hnh hc l hnh trn (hoc eclipse nu lch gc nhn), hnh tam gic. Ngoi ra nhng bin bo hng dn dng hnh ch nht, hay cc bin bo c tnh c bit qu cao s khng c nghin cu trong bo co ny. Phng php pht hin bin bo Da trn cc c trng ca bin bo, nhm s dng phng php pht hin bin Canny kt hp vi c trng mu tm ra bin nh ca bin bo, sau dng c trng nhn dng hnh hc gi li chnh xc cc bin nh ng, loi b cc bin gi. Pht hin bin nh bng Canny: Chng ta c th hiu n gin v phng php Canny nh sau Phng php canny s dng mt ngng mu (threshold) nht nh cho vic pht hin bin. Bin nh c hiu l vng nh m c s chnh lch cng mu r rt. Cc nh p dng thut ton Canny u l nh c chuyn sang mc xm (Gray scale) vi cng t 0 255.

nh mu

nh sang xm

nh sau khi dng Canny tm bin

Nhn xt: Khi ch s dng phng php Canny thng thng th kt qu thu c cha rt nhiu "nhiu", s gy kh khn cho vic tm ra bin nh ca bin bo sau ny nu ch da vo c trng hnh hc ca bin bo (hnh trn hay hnh tam gic). Kt hp c trng mu vi phng php Canny: Nhn thy 3 loi bin bo cn pht hin u c mu c trng l vin hoc xanh nc bin, v th ta c th li dng im ny loi bt cc chi tit nhiu trn hnh. tng ca phng php ny nh sau: Ta xy dng mt mt n (mask) mu (hoc xanh) c kch thc bng nh gc bng cch loi b tt c cc im nh khng thuc di mu (hoc xanh) khi chuyn nh gc thnh nh mc xm. lp mt n mu, chng ta chuyn nh v x l trn khng gian mu HSV Vi mi gi tr H, S, V ta lp mt mask tng ng da theo di mu xanh hay . Duyt qua tng pixel ca nh. Pixel no nm trong mask, ta gi nguyn gi tr mc xm (gray scale) khi chuyn qua nh mc xm, ngc li th gn cho gi tr mc xm l 0. Khi dng php ton And dnh cho 3 mt n ca H, S, V trn th kt qu thu c chnh l nh mc xm ca nh gc nhng c lc li ch cn nhng im nh thuc min gi tri mu hoc xanh ban u.

nh sau khi lc qua mt n mu

Vic lp khong gi tr cho H, S, V khi lm mt n c ngha quan trng ti chnh xc khi x l sau ny. R rng l khi khong gi tr cng hp th nhiu cng t nhng c nguy c b mt hnh cao hn, cn khong gi tr rng th n mn gim nhng s nhiu cn li vn ng k. Khi c kt qu l nh mc xm lc qua mt n th ta dng phng php Canny tm li bin ca nh.

nh sau khi dng Canny pht hin bin

Nhn xt: Khi kt hp dng mt n mu lc im nh sau mi p dng phng php Canny tm bin, ta thy r rng kt qu c ci thin hn rt nhiu, cc bin tm c c chnh xc cao hn v nhiu t hn so vi nu ch dng Canny n thun.

Dng c trng hnh hc loi b bin gi Sau khi c nh bin thu c t vic p dng phng php Canny, chng ta s tin hnh loi b cc bin gi. Trong x l nh, c mt thut ng gi l Contour (ng vin), c th hiu tm hiu l ng vin bao quanh khp kn. loi b cc bin gi, ta tin hnh duyt qua ln lt tt c cc Contour thu c t phng php Canny (hm FindContour c OpenCV h tr). Vi mi Contour ny ta kim tra c trng hnh hc ca n xc nh xem c phi l bin ca bin bo hay ko? Tnh cht tam gic: Kim tra xem contour c phi c to thnh t 3 vector hay khng ? Tnh cht hnh trn (hoc eclipse): Tnh ton bn knh trc ln, trc nh, din tch ca Contour, t suy ra gi tr PI. Nu Pi ~3.14 th tha mn tnh cht hnh trn. Kt thc qu trnh duyt, ta loi b tt c cc Contour khng tha mn c trng hnh hc, nhng Contour cn li chnh l bin ca cc bin bo. Trch xut vng c trng (ROI Extraction) Sau khi c c cc bin ca cc bin bo, ta xc nh cc hnh ch nht bao ng ngoi tip cc bin ny. Trch xut cc khu vc tng ng vi cc hnh ch nht ny trn nh gc, loi b tt c cc im mu nm ngoi bin ca bin bo, sau chuyn nh mu sang nh mc xm.

X l trc khi nhn dng (Pre-recognized) y l qu trnh chng ta bin i d liu nh thu bc ROI extraction thnh mt kiu d liu hp l, lm input u vo cho mng nron. Sau khi c d liu nh, chng ta thay i kch thc nh v cng kch thc mu 30*30 pixel. Lu rng khi nh cn dng nh mu th mi pixel cha thng tin ca 3 mu R, G, B. Ta c cng thc chuyn nh RGB thnh nh mc xm (Gray scale) nh sau: Gray = (0.299*R + 0.587*G + 0.114*B) D liu chng ta s cung cp cho input ca mng noron giai on sau s l mt dy 63 tham s, i din cho d liu ca bc nh, trong : - 3 tham s i din cho gi tr trung bnh ca ba mu R, G, B ca bc hnh

bi,j i din cho gi tr mu pixel ti v tr i*j 30 tham s i din cho cng sng ca nh Gray theo chiu dc:

bi,j i din cho gi tr cng xm ti v tr i*j 30 tham s i din cho cng sng ca nh Gray theo chiu Ngang:

bi,j i din cho gi tr cng xm ti v tr i*j Trong T l i din cho gi tr trung bnh ca cng sng ca nh mc xm:

Mng 63 phn t ny s c chuyn cho bc k tip, cng l giai on cui; qu trnh nhn dng. V l thuyt, khi chng ta s dng nh c kch thc 30*30 pixel th trng hp l tng nht vn l s dng 30*30=900 gi tr lm input cho mng noron, tuy nhin iu ny i hi mt s lng noron qu ln, i km vi n l cu trc mng v kh nng hun luyn thnh cng hay khng ? V vy, nhm s dng mt cu trc rt gn bng cch dng 63 gi tr phn t trn, i din cho thng tin ca bc nh mng noron x l. Qu trnh nhn dng (Recognized) y l giai on cui cng ca h thng. Chng ta cung cp 1 tp d liu u

vo cho mt mng noron c hun luyn t trc. Mng s tnh ton v tr kt qu output. T cc kt qu ny chng ta c th xc nh mng c th nhn dng ra bin bo hay khng v nu c th bin bo l g. Cu trc mng noron Mng noron c nhm la chn y l mng truyn thng MLP (Multi layer Perception). Gii thut hun luyn mng l gii thut lan truyn ngc li Back- propagation Hm activation l hm sigmoid. Mng gm c 3 layer: - Input Layer: S noron l 63, i din cho 63 tham s th hin ca bc nh - Hidden layer: lp n, lp gia ca mng. S noron lp ny c xc nh bng thc nghim o hiu nng ca mng - Output Layer: S noron bng chnh lng bin bo m mng c din 5 bin bo.

Cu trc mng noron nhn dng bin bo

Tp hun luyn c th s dng c mng noron th mng ny cn phi c hun

luyn. Do thi gian ngn v nhm khng iu kin su tm ton b h thng mu bin bo Vit nam cho mng noron hc nn nhm s xy dng mt tp mu demo gm 5 loi bin bo vi tng cng 30 mu.

Tp d liu mu hun luyn mng

Tp bin bo chun

TI LIU THAM KHO

Ting Vit - Gio trnh x l nh , TS Phm Vit Bnh TS Nng Ton, i Hc Thi Nguyn 2007 - L thuyt mng noron, Nguyn Thanh Cm Ting Anh - An introduction to neural networks: Pattern learning with the back-propagation algorithm http://www.ibm.com/developerworks/library/l-neural/ - Learning OpenCV: Computer Vision with the OpenCV Library, Gary Bradski- Adrian Kaehler. - Traffic Sign Recognition Using Neural network on OpenCV: Toward Intelligent Vehicle/Driver Assistance System, Auranuch Lorsakul - Jackrit Suthakorn