本篇論文主要以立體視覺的方法加以房屋偵測運算建立3D地圖模型。以雙鏡頭的方式在同高度、同方向且相隔一定距離的環境下拍攝目標物，並以其中一側相機所截取之影像進行一系列房屋偵測影像處理，將所抓取到的房屋影像與另一側鏡頭所拍攝之影像進行匹配，爾後針對兩圖匹配成功的房屋算取其視差值並以此算得景深，再以載具本身所在高度減以此景深而得3D地圖量體模型。

This dissertation presents a detection algorithm for buildings searching and constructing 3D model using depth reconstruction based on stereo vision. The images are captured in planar form right above the objects that are considered, processed with a series of procedure to find out the corresponding buildings inside the images and construct a bulk model using the method of depth reconstruction.

[1] C. Jaramillo, L. Guo, J. Xiao. “A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs),” IEEE, 8th International Conference on Industrial Electronics and Applications (ICIEA), 2013, June, 19-21, pp. 1409-1414.
[2] S. Yi, N. Ahuja, “An Omnidirectional Stereo Vision System Using a Single Camera,” IEEE, 18th International Conference on Pattern Recognition (ICPR), Vol. 4, 2006, pp. 861-865.
[3] Y. C. Zhang, C. W. Wang, T. T. Xing. “An Optical Distance Measuring Method Using Non-Contact Technology.” IEEE, WASE International Conference on Information Engineering (ICIE), Vol. 3, 2010, Aug., 14-15, pp. 30-33.
[4] M. C. Lu, W. Y. Wang, C. Y. Chu. “Image-Based Distance and Area Measuring Systems,” IEEE, Sensor Journal, Vol. 6, Issue 2, 2006, April, pp. 495-503.
[5] J. L. L. Galilea, J. M. Lavest, C. A. L. V’azquez, A. G. Vicente and I. B. Munoz. "Calibration of a High-Accuracy 3-D Coordinate Measurement Sensor Based on Laser Beam and CMOS Camera." IEEE Transactions on Instrumentation and Measurement, Vol.58, Issue 9, 2009, Sept., pp. 3341-3346.
[6] J. W. Yu, J. Song, X. Y. Sun and T. S. Zhang. "Design and Experiment of Distance Measuring System with Single Camera for Picking Robot." IEEE on World Automation Congress (WAC), 2010, Sept., 19-23, pp. 445-448.
[7] C. C. Hsu, M. C. Lu, K. W. Chin. "Distance Measurement Based on Pixel Variation of CCD Images." IEEE, 4th International Conference on Autonomous Robots and Agents, 2009, Feb., 10-12, pp. 324-329.
[8] C. C. Chen, M. C. Lu, P. C. Chang, C. P. Tsai, T. Y. Tang. "Image-Based Detection and Obstacle Avoidance for Mobile Robots." IEEE, 4th International Conference on Autonomous Robots and Agents (ICARA), 2009, Feb., 10-12, pp.193-197.
[9] K. A. Rahman, M. S. Hossain, M. A. A. Bhuiyan, T. Zhang, M. Hasanuzzaman, H. Ueno. "Person to Camera Distance Measurement Based on Eye-Distance." IEEE, 3rd International Conference on Multimedia and Ubiquitous Engineering (MUE'09), 2009, June, 4-6, pp. 137-141.
[10] C. Holzmann, M. Hochgatterer. "Measuring Distance with Mobile Phones Using Single-Camera Stereo Vision." IEEE, 32th International Conference on Distributed Computing Systems Workshops (ICDCSW), 2012, June, 18-21, pp. 88-93.
[11] Y. Mustafah, R. Noor, H. Has, A. W. Azma. "Stereo Vision Images Processing for Real-Time Object Distance and Size Measurements." IEEE, International Conference on Computer and Communication Engineering (ICCCE), 2012, July, 3-5, pp. 659-663.
[12] B. Kuljic, S. János, S. Tibor. "Determining Distance and Shape of an Object by 2D Image Edge Detection and Distance Measuring Sensor." IEEE, 6th International Symposium on Intelligent Systems and Informatics (SISY), 2008, Sept., 26-27, pp.1-4.
[13] M. Y. Cheng, C. C. Hsu, P. J. Lee. "2-Dimenional Localization Based on Tilt Photographing of a Single CCD Camera." IEEE, 4th International Conference on Autonomous Robots and Agents (ICARA), 2009, Feb., 10-12, pp. 182-186.
[14] J. S. Lee, Y. H. Jeong. "CCD Camera Calibrations and Projection Error Analysis." IEEE, 4th Korea-Russian International Symposium on Science and Technology (KORUS), Vol. 2, 2000, pp.50-55.
[15] T. H. Wang, C. C. Hsu, C. C. Chen, C. W. Huang, Y. C. Lu. "Three-Dimensional Measurement of a Remote Object with a Single CCD Camera." IEEE, 4th International Conference on Autonomous Robots and Agents (ICARA), 2009, Feb., 10-12, pp.187-192.
[16] C. Liu, J. Chen, Y. F. Xu, F. Luo. "Intelligent Vehicle Road Recognition Based on the CMOS Camera." IEEE, International Conference on Vehicle Power and Propulsion (VPPC'08), 2008, Sept., 3-5, pp.1-5.
[17] V. E. Schmidt, Y. Rzhanov. "Measurement of Micro-Bathymetry with a GOPRO Underwater Stereo Camera Pair." IEEE, International Conference on Oceans, 2012,Oct., 14-19, pp.1-6.
[18] Z. Y. Zhang. "A Flexible New Technique for Camera Calibration." IEEE Transactions Pattern Analysis and Machine Intelligence, Vol.22, Issue 11, 2000, Nov., pp. 1330-1334.
[19] 鍾國亮，影像處理與電腦視覺第五版，東華書局，民國101年3月，IBSN 978-957-483-697-0。
[20] 井上誠喜、八木申行、林 正樹、中須英輔、三谷公二、奧井誠人，C語言數位影像處理，全華圖書股份有限公司，民國101年3月，IBSN 978-957-21-7373-2。
[21] M. Awrangjeb, C. S. Zhang, C. S. Fraser. "Building Detection in Complex Scenes thorough Effective Separation of Buildings from Trees." Photogrammetric Engineering & Remote Sensing, Vol. 78, Issue 7, 2012, pp. 729-745.
[22] F. U. Siddiqui, S. W. Teng, G. J. M. Aweangjeb. "An Improved Building Detection in Complex Sites Using the LIDAR Height Variation and Point Density." IEEE, 28th International Conference on Image and Vision Computing New Zealand (IVCNZ), 2013, Nov., 27-29, pp. 471-476.
[23] S. Müller, D. W. Zaum. "Robust building detection in aerial images." International Archives of Photogrammetry and Remote Sensing, 2005, pp. 143-148.
[24] L. J. Zhao, X. G. Zhou, G. Y. Kuang. "Building Detection from Urban SAR Image Using Building Characteristics and Contextual Information." EURASIP Journal on Advances in Signal Processing, 2013, pp. 1-16.
[25] B. Sirmacek C. Unsalan. "A Probabilistic Framework to Detect Buildings in Aerial and Satellite Images." IEEE Transactions on Geoscience and Remote Sensing, Vol.49, Issue 1, 2011, pp.211-221.
[26] G. Bradski, A. Kaebler, “Learning OpenCV Computer Vision with the OpenCV Library,” O’Reilly Media, 2008, IBSN 978-0-596-51613-0.
[27] Image formation,
http://digiphoto.techbang.com/posts/287-understanding-of-the-basic-slr-camera-are-housed-in-the-end-what-is-so-heavy, available in April 2014.
[28] Calibration principle,
http://wycwang.blogspot.tw/2012/09/camera-calibration-part-1-camera-model.html, available in April 2014.
[29] Calibration principle,
http://wycwang.blogspot.tw/2012/10/camera-calibration-part-2-calibration.html, available in April 2014.
[30] J. F. Canny. "A Computational Approach to Edge Detection." IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.PAMI-8, Issue 6, 1986, pp.679-698.
[31] J. M. S. Prewitt."Object Enhancement and Extraction." Picture Processing and Psychopictorics, Vol.10, Issue 2, 1970, pp.15-19.
[32] M. E. Sobel. "Asymptotic confidence intervals for indirect effects in structural equation models." Sociological methodology. Vol.13, 1982, pp. 290-312.
[33] Calibration principle,
http://wycwang.blogspot.tw/2012/09/camera-calibration-part-1-camera-model.html, , available in April 2014.
[34] Mean-shift principle, http://wenku.baidu.com/view/4f37261cfad6195f312ba6c7.html, available in April 2014.
[35] Mean shift principle, http://wenku.baidu.com/view/8fbfe13458fb770bf68a5504.html, available in April 2014.
[36] PCA principle, http://blog.codinglabs.org/articles/pca-tutorial.html, available in April 2014.
[37] PCA principle ,
http://stackoverflow.com/questions/4974709/pca-svm-using-c-syntax-in-opencv-2-2, available in April 2014.
[38] PCA principle., http://yester-place.blogspot.tw/2009/01/opencv-pca.html, available in April 2014.
[39] K-Nearest classifier principle, http://mqjing.blogspot.tw/2009/10/opencv-knn.html, available in April 2014.
[40] K-Nearest classifier principle,
http://www.cnblogs.com/wengzilin/archive/2013/04/05/3001778.html, available in April 2014.
[41] Template mtching principle, http://phys.thu.edu.tw/~exp01/proxy/proxy03.htm, available in April 2014.
[42] Template matching principle, http://blog.csdn.net/sunbright/article/details/24717963, available in April 2014.
[43] Template matching principle,
http://wenku.baidu.com/view/4a697f5177232f60ddcca104.html,
available in April 2014.
[44] template matching principle,
http://wenku.baidu.com/view/4a697f5177232f60ddcca104.html,
available in April 2014.
[45] template matching principle,
http://wenku.baidu.com/view/e90604f9aef8941ea76e0505.html,
available in April 2014.