Tim Hieu Bai Toan NHan Dang

Lun vn
ti: Bi ton nhn dng

bin s xe
n Tt Nghip
Khoa Cng Ngh Thng Tin
MC LC
M U .................................................................................................................. 7
CHNG 1. Tng quan v nhn dng. ................................................................... 8
1.1 - Tnh cht v s cn thit ca bi ton nhn dang. ................................................ 8
1.1.1
Tnh cht ...................................................................................................... 8
1.1.2
S cn thit. ................................................................................................. 8
1.2 - Khng gian biu din i tng, khng gian din dch. .................................... 10
1.2.1
Khng gian biu din i tng ................................................................ 10
1.2.2
Khng gian din dch. ................................................................................ 10
1.3 - M hnh v bn cht ca qu trnh nhn dng.................................................... 11

1.3.1
M hnh. ..................................................................................................... 11
1.3.2
Bn cht ca qu trnh nhn dng. ............................................................. 12
CHNG 2. X l nh v openCV ...................................................................... 15

2.1 - X l nh phn .................................................................................................... 16
2.2 - Gim nhiu. ........................................................................................................ 18
2.2.1
B lc hp thng thng (Normalized Box filter). ................................... 19
2.2.2
B lc gaussian (Gaussian Filter). ............................................................. 20
2.2.3
B lc Median (Median Filter): ................................................................. 21
2.2.4
B lc song phng (Bilateral filter). ........................................................ 22
2.2.5
Filter2D ...................................................................................................... 23
2.3 - Bin v cc phng php tm bin. .................................................................... 24

2.3.1
Khi nim v bin: ..................................................................................... 24
2.3.2
Phng php Gradient. .............................................................................. 24
2.3.3
Ton t la bn. ........................................................................................... 29
2.3.4
Laplace. ...................................................................................................... 31
2.3.5
Tch sn nh theo Canny. ....................................................................... 33
SV: Phm Th Ti Lp S11-50TH
GVHD: Th.S V Anh Dng
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2.4 - Bin i Hough .................................................................................................. 35

2.5 - Mt s hm c bn trong th vin OpenCV ...................................................... 41
2.5.1
Ti mt nh v hin th nh. ...................................................................... 41
2.5.2
Chuyn nh mu sang nh xm. ................................................................ 42
2.5.3
Tm i tng bng findContours ............................................................ 43
CHNG 3. Bi ton nhn dng bin s xe. ....................................................... 45

3.1 - Khi nim v nhn dng bin s xe. ................................................................... 45
3.1.1
Khi nim. .................................................................................................. 45
3.1.2
ng dng. .................................................................................................. 47
3.1.3
Phn loi bin s xe. .................................................................................. 48
3.2 - Mt s hng gii quyt bi ton nhn dng bin s xe. ................................... 52
3.2.1
Hng tip cn pht trin vng. ................................................................ 52
3.2.2
Hng tip cn d bin v bin i Hough. .............................................. 53
3.2.3
Phn ngng v tm vng i tng (hng tip cn ca n). ............ 54
3.3 - Hng gii quyt. ............................................................................................... 54

3.4 - Pht hin vng cha bin s. .............................................................................. 56
3.4.1
Giai on 1: Bin i nh xm v lc nh ................................................. 57
3.4.2
Giai on 2: Tin hnh phn ngng hoc pht hin bin. ....................... 57
3.4.3
Giai on 3: Tm ng bao i ng. ................................................... 58
3.4.4
Giai on 4: Tch vng bin s. ................................................................ 59
3.5 - Tch ring tng k t ......................................................................................... 60

3.5.1
Giai on 1: Tin hnh phn ngng. ....................................................... 61
3.5.2
Giai on 2: Tm vng i tng. ............................................................. 61
3.5.3
Giai on 3: Tm v tch vng k t. ........................................................ 61
3.6 - Nhn dng k t quang hc ( mng nron) ........................................................ 61

3.6.1
M hnh nron nhn to............................................................................. 62
3.6.2
Mng nron ................................................................................................ 63
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3.6.3
Mng Kohonen ........................................................................................... 66
3.6.4
Mng nron nhiu lp ln truyn ngc sai s ......................................... 71
CHNG 4. Kt qu v hng pht trin ca bi ton nhn dng bin s xe. .... 74
4.1 - Kt qu hng gii quyt phn ngng v tm i tng. ............................. 74
4.1.1 Kt qu dng vi phng php tm bin Canny kt hp vi tm vng i
tng. 75
4.1.2
Kt qu dng vi phng php phn ngng kt hp tm vng i tng

75
4.1.3
Kt lun. ..................................................................................................... 76
4.2 - Hng pht trin ca bi ton nhn dng bin s xe. ........................................ 82
4.2.1
Nhn xt. .................................................................................................... 82
4.2.2
Hng pht trin ca bi ton. ................................................................... 82
KT LUN. ........................................................................................................... 84
TI LIU THAM KHO ...................................................................................... 85
Ph lc. ................................................................................................................... 86
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Danh mc cc hnh v
Hnh 1.1 Nhn dng vn tay trn my ATM. .......................................................... 9
Hnh 1.2 Phin dch vin Jibbigo ............................................................................ 9
Hnh 1.3 S tng quan mt h nhn dng. ....................................................... 14
Hnh 2.1 Qu trnh x l nh. ................................................................................ 15
Hnh 2.2 Cc bc c bn trong h thng x l nh............................................. 15
Hnh 2.3 (a) ngng 40,(b) ngng 121 ............................................................... 16
Hnh 2.4 S dng b lc hp thng thng. ......................................................... 20
Hnh 2.5 s dng b lc Gaussian ......................................................................... 21
Hnh 2.6 s dng b lc Median ........................................................................... 22
Hnh 2.7 s dng b lc song phng................................................................... 23
Hnh 2.8 filter2D nhn thay i tng dn t tri qua phi..................................... 24
Hnh 2.9 Tm bin bng chc nng Sobel trong OpenCV .................................... 29
Hnh 2.10 Mt n 8 hng theo Kirsh. .................................................................. 29
Hnh 2.11 Tm bin Laplace .................................................................................. 33
Hnh 2.12 Tm bin theo Canny ............................................................................ 35
Hnh 2.13 Trc ta cc i qua 2 im.......................................................... 36
Hnh 2.14 Trc ta cc................................................................................. 36
Hnh 2.15 H ta cc. ....................................................................................... 37
Hnh 2.16 ng thngHough trong ta cc. .................................................. 38
Hnh 2.17 Kt hp gia HoughLines vi HoughCircles ....................................... 40
Hnh 2.18 Tm thy hnh trn trong mu c hnh trn. ......................................... 41
Hnh 2.19 Ti mt nh vo ca s windows ......................................................... 42
Hnh 2.20 Chuyn nh mu sang nh xm. ........................................................... 43
Hnh 2.21 s dng findContours tm i tng .................................................... 44
Hnh 3.1 H thng t ng nhn dng bin s xe. ................................................ 46
Hnh 3.2 Bin s mi. ............................................................................................ 52
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Hnh 3.3 Mt s loi bin s xe thng dng ......................................................... 54

Hnh 3.4 (a) nh u vo (b) nh x l xm v lc song phng. ........................ 57
Hnh 3.5 nh sau khi tin hnh phn ngng ........................................................ 58
Hnh 3.6 Tm ng bao cc i tng ................................................................ 59
Hnh 3.7 Sau khi lc bng dc im bin s v ct ring vng bin s ................ 60
Hnh 3.8 Cc k t c ct sau khi tm thy vng bin s.................................. 61
Hnh 3.9 M hnh nron nhn to. ........................................................................ 62
Hnh 3.10 Mng nron truyn thng v nhiu lp. ............................................... 64
Hnh 3.11 Mng nron hi quy. ............................................................................ 64
Hnh 3.12 Hc tham s c gim st....................................................................... 66
Hnh 3.13 Li cc nron ..................................................................................... 67
Hnh 3.14 nh x mt cu vo li nron 15x15 ................................................. 71
Hnh 3.15 Mng nron 2 lp. ................................................................................ 72
Hnh 4.1 Bin khng nhn dng c ................................................................... 77
Hnh 4.2 Vng bin s trong qu trnh phn ngng. ........................................... 80
Hnh 4.3 Mc xm thp lm vng bin s b mt trong qu trnh phn ngng .. 80
Hnh 4.4 Nhng bin s khng nhn k t ...................................................... 82
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Danh mc cc bng
Bng
Tn bng
Trang
Bng 1
Chi tit tm vng bin s s dng d bin Canny v tm

vng i tng.
77
Bng 2
Chi tit tm vng bin s s dng hng phn ngng v

tm vng i tng.
78
Tm vng bin s trong cc khong ngng khc nhau

Bng 3
tng dn.(bin c tm thy khong ngng trc s
79
khng phi l i tng xt cc khong ngng sau).

Tm vng bin s trong cc ngng khc nhau gim dn.
Bng 4
(bin c tm thy khong ngng trc s khng phi
80
l i tng xt cc khong ngng sau).

Chi tit cc khong ngng pht hin nhng bin s.( cc
Bng 5
bin tch ly thnh cng khong ngng trc khng
82
c tnh cho khong ngng sau).
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M U
Hin nay, vi s pht trin kinh t x hi bng n s lng phng tin giao
thng. Gy ra nhng kh khn trong cng tc qun l, x l vi phm giao thng m
ngun nhn lc con ngi kh c th m ng c. V vy vn cn thit l c
mt h thng qun l, x l vi phm giao thng t ng.
xy dng h thng qun l giao thng t ng th Bi ton nhn dng bin
s xe l tin xy dng nhng m hnh qun l . Tuy nhin, hin nay Vit
Nam nhng h thng qun l cha nhiu v lnh vc nhn dng cn ang pht trin.
T nhng thc t , trong thi gian lm n tt nghip em quyt nh la
chn tm hiu v bi ton nhn dng trong ch trng vo vic nhn dng bin s
xe. phc v cho bc u trong h thng qun l phng tin giao thng ti Vit
Nam. Trong iu kin nng lc v thi gian c hn, nn bo co ca em khng trnh
khi nhng sai st. Em knh mong thy c v cc bn ng gp nhng kin em c
th chnh sa v b sung nhng phn thiu st em hon thin ti ca mnh.
Em xin chn thnh cm n Thy V Anh Dng v cc bn ht lng gip ,
ch bo em c th hon thnh tt n tt nghip ny.
Trong bo co n ln ny em trnh by thnh 4 chng nh sau.
Chng I: Tng quan v nhn dng.
Chng II. X l nh v OpenCV.
Chng III. Bi ton nhn dng bin s.
Chng IV. Kt qu v hng pht trin ca bi ton nhn dng bin s xe.
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CHNG 1. Tng quan v nhn dng.
1.1 - Tnh cht v s cn thit ca bi ton nhn dang.

1.1.1
-
Tnh cht
Nhn dng l qu trnh phn loi cc i tng c biu din theo mt m
hnh no v gn cho chng vo mt lp (gn i tng mt tn gi) da theo nhng

quy lut v cc mu chun. Qu trnh nhn dng da vo nhng mu hc bit trc gi
l nhn dng c thy (supervised learning); trong trng hp ngc li gi l hc
khng thy (non supervised learning).
-
Nhn dng l mt bi ton quan trng trong ngnh th gic my tnh.
1.1.2 S cn thit.
-
Cng vi s pht trin khng ngng ca kinh t x hi v cc ngnh k thut
hin nay. i hi s qun l v x l thng tin chnh xc m n vt qu sc ca con

ngi. V vy chng ta cn c my mc hoc ng lm gim ti hoc thay th cng
vic nng nhc, i hi s chnh xc cao v nhm chn cho con ngi. Vic gip my
mc nhn dang (thu thp , phn loi thng tin) nh cn ngi s gip my mc hot
ng hiu qu ging nh con ngi vi chnh xc cao hn rt nhiu.
-
Mt s ng dng ca bi ton nhn dng.

Nhn dng du vn tay: Vit Nam c s dng trong vic chm cng,
im danh v lm kha an ton cho cc loi ca st, my tnh xch tay. N to s

tin dng v rt an ton.
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Hnh 1.1 Nhn dng vn tay trn my ATM.

Thay v phi nhp m pin trn my ATM th bn ch vic t ngn tay tr ca mnh
ln v giao dch s bt u.
Nhn dng ging ni: ng dng ny c tch hp trn nhiu sn phm, bn s iu
khin cc thit b qua ging ni ca mnh thay v phi thao tc trc tip bng tay, nh
trong m hnh nh thng minh, trn in thoi. V d : ng dng Jibbigo trn in
thoi i ng , ng dng ny c th dch c ting ni ca ngi s dng vi 8 ngn
ng khc nhau nh ting Anh, Php, c, Nht, Hn Quc, Philipin, Ty Ban Nha,
Trung Quc.
Hnh 1.2 Phin dch vin Jibbigo

Nhn dng bin s xe: s c gii thiu ti Chng III
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1.2 - Khng gian biu din i tng, khng gian din dch.
1.2.1 Khng gian biu din i tng
Cc i tng khi quan st hay thu nhp c thng c biu din bi tp
cc c trng hay c tnh. Nh trong trng hp x l nh, nh sau khi c tng
cng nng cao cht lng, phn vng v trch chn c tnh, .c biu din bi
cc c trng nh bin , min ng nht. Ngi ta thng phn cc c trng ny
theo cc loi nh: c trng t p (tp im), c trng hnh hc v c trng chc
nng. Vic biu din nh theo c trng no cn ph thuc vo ng dng tip theo.
V d : gi s i tng X (nh, ch vit, du vn tay,) c biu din bi n
thnh phn c trng: X={x1,x2.,xn}; mi xi biu din mt c tnh. Khng gian biu
din i tng thng gi tt l khng gian i tng A c nh ngha:
A={X1,X2,Xm}
Trong mi Xi biu din mt i tng. Khng gian ny c th l v hn.
nhng tin xem xt th ta ch xt tp hu hn.
1.2.2 Khng gian din dch.

Khng gian din dch l tp cc tn gi ca i tng. Kt thc qu trnh nhn
dng ta xc nh c tn gi cho cc i tng trong tp khng gian i tng hay
ni l nhn dng c i tng.
Mt hnh thc gi l l tp tn i tng:
={ w1 ,w2,.wk} vi wi, i= 1,2,.k l tn cc i tng
Qu trnh nhn dng i tng f l mt nh xa f: A vi f l tp cc quy lut
nh mt phn t trong A ng vi mt phn t trong . Nu tp cc quy lut v tp
tn cc i tng l bit trc nh trong nhn dng ch vit c ( c 26 lp t AZ),
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ngi ta gi l nhn dng c thy. Trng hp hai l nhn dng khng c thy ( trng
hp ny kh khn hn).
1.3 - M hnh v bn cht ca qu trnh nhn dng.

1.3.1 M hnh.
Vic chn la mt qu trnh nhn dng c lin quan mt thit n kiu m t m
ngi ta s dng c t i tng. Trong nhn dng, ngi ta phn chia theo hai h
lp:
-
H m t theo tham s.
H m t theo cu trc.
Cch m t c la chn s xc nh m hnh ca i tng. Nh vy, chng
s c 2 loi m hnh: m hnh theo tham s v m hnh cu trc.
a.
M hnh tham s.
M hnh tham s s dng mt vector c i tng. Mi phn t cavector

m t mt c tnh ca i tng. V d: nh trong cc c trng chc nng, ngi ta
s dng cc hm c s trc giao biu din. V nh vy nh s c biu din bi
mt chui cc hm trc giao. Gi s C l ng bao ca nh C(i,j) l im th i trn
ng bao, i= 1,2,n ( ng bao gm n im).
Gi s
x0=
y0=
l ta im. Nh vy, moment trung tm bc p,q ca ng bao l :
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vector tham s trong trng hp ny chnh l cc moment ij vi i=1,2,.,p v j =

1,2,,q. Cn trong s cc c trng hnh hc, ngi ta hay s dng chu tuyn, ng
bao, din tch v t l T=4S/p2 vi S l din tch, p l chu tuyn.
Vic chn phng php biu din s lm n gin cch xy dng. Tuy nhin, vic
la chn c trng no l hon ton ph thuc vo ng dng.
b.
M hnh cu trc.
Cch tip cn ca m hnh ny da vo vic m t i tng nh mt s khi nim

biu th cc i tng c s trong ngn ng t nhin. m t i tng, ngi ta
dng mt s dng nguyn thy nh on thng, cung . Chng hn mt hnh ch nht
c nh ngha gm 4 ong thng vung gc vi nhau tng i mt. Trong m hnh
ny ngi ta s dng mt b k hiu kt thc Vt, mt b k hiu khng kt thc gi l
Vn . Ngoi ra cn dng mt tp cc lut sn xut m t cch xy dng cc i tng
ph hp da trn cc i tng n gin hn hoc i tng nguyn thy. Trong cch
tip cn ny, ta chp nhn mt khng nh l: cu trc l kt qu ca vic p dng lut
sn xut theo nhng nguyn tc xc nh bt u t mt dng gc bt u. Mt cch
hnh thc, ta c th coi m hnh ny tng ng mt vn phm G=(Vt,Vn,P,S) vi :
-Vt l b k hiu kt thc,
-Vn l b k hiu khng kt thc,
-P l lut sn xut,
-S l dng ( k hiu bt u).
1.3.2 Bn cht ca qu trnh nhn dng.

Qu trnh nhn dng gm 3 giai on chnh:
-
La chn m hnh biu din i tng.
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La chn lut ra quyt nh (phng php nhn dng) v suy din qu trnh hc.
Hc nhn dng.
Khi m hnh biu din i tng c xc nh, c th l nh lng ( m hnh

tham s) hay nh tnh ( m hnh cu trc), qu trnh nhn dng chuyn sang giai on
hc. Hc l giai on quan trng. Thao tc hc nhm ci thin, iu chnh vic phn
hoch tp i tng thnh lp.
Vic nhn dng chnh l tm ra quy lut v cc thut ton c th gn i tng
vo mt lp hay ni mt cch khc gn cho i tng mt tn.
a.
Hc c thy ( supervised learning)
K thut phn loi nh kin thc bit trc gi l hc c thy. c im c bn ca

k thut ny l ngi ta c mt th vin cc mu chun. Mu cn nhn dng s c
em so snh vi mu chun xem n thuc loi no. V d nh trong mt nh vin
thm, ngi ta mun phn bit mt cch ng la, mt cnh rng hay mt vng t
hoang m c miu t v i tng . Vn ch yu l thit k mt h thng c
th i snh i tng trong nh vi mu chun v quyt nh gn cho chng vo mt
lp. Vic i snh nh vo cc th tc ra quyt nh da trn mt cng c gi l hm
phn lp hay hm ra quyt nh.
b.
Hc khng c thy( non supervised learning)
K thut ny phi t nh ra cch lp khc nhau v xc nh cc tham s c

trng cho tng lp. Hc khng c thy kh khn hn. Mt mt, do s lp khng c
bit trc, mt khc nhng c trng ca lp cng khng bit trc. K thut ny
nhm tin hnh mi cch gp nhm c th v chn la cch tt nht. Bt u t tp d
liu, nhiu th tc x l khc nhau nhm phn lp v nng cp dn t c mt
phng n phn loi.
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Nhin chung, mt h thng nhn dng c th tm tt s sau.
Hnh 1.3 S tng quan mt h nhn dng.
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CHNG 2. X l nh v openCV
Qu trnh x l nh c xem nh l qu trnh thao tc nh u vo nhm cho
ra kt qu mong mun. kt qu u ra ca mt qu trnh x l nh c th l mt nh
tt hn (theo mun) hoc mt kt lun.
Hnh 2.1 Qu trnh x l nh.

nh c th xem l tp hp cc im nh v mi im nh c xem l c trng
cng sng hay mt du hiu no ti mt v tr no ca i tng trong khng
gian v c th xem nh hm n bin . Do nh trong x l nh c th xem nh nh n
chiu.
S tng qut ca h thng x l nh:
Hnh 2.2 Cc bc c bn trong h thng x l nh

V chng ny chung ta s c bit OpenCV h tr g cho nhng bc x l
nh. Tip sau em s gii thiu cc bc x l v OpenCV h tr x l nh nh th no
(cung cp th vin g).
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Tin x l
Cc thao tc x l trn nh chun b cho nhng bc phn tch tip theo.
Chng hn nh cc thao tc: chn ngng chuyn nh a cp xm, nh mu v dng
nh phn, gim nhiu loi b nhng d diu khng lin quan, phn on phn
tch cch thnh phn trong nh v cui cng l lm mnh hay d bin dng xc
nh cc vng, cc c trng thch hp v i tng cn quan tm.
2.2 - X l nh phn
Mc xm l gi tr c th c ca im nh.
Vi nhng nh a cp xm cc thng tin sn dng nh phn chng hn nh cc
chui vn bn hay cc i tng nh, th phng php nh phn thng thng s c
thc hin trc. Mc ch ca phng php ny s t ng chn mt ngng cn thit
tch nh ra lm hai phn: thng tin nh v thng tin nn. Vic chn ngng tt
(ngng m c th tch nh thnh hai phn: phn nh, phn nn mt cch chnh xc)
lun l mt qu trnh kh v d gy ra li.
(a)
(b)
Hnh 2.3 (a) ngng 40,(b) ngng 121

Kt qu ny s gp kh khn khi tng phn gia nn v cc gi tr im nh l
thp (chng hn nh xe mu xm nn mu trng), nt ca vn bn mng hoc d liu
khng c chiu sng tt.
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thc hin vic tch ngng ny th OpenCV cung cp chc nng threshold.
threshold( src_gray, dst, threshold_value, max_BINARY_value,threshold_type );
src_gray: hnh nh u vo.
dst: hnh nh u ra.

threshold_value: gi tr thc hin tch ngng.
max_BINARY_value: gi tr thc hin tch ngng nh phn.
threshold_type: mt trong 5 ngng hot ng
5 ngng hot ng OpenCV cung cp:
a. Threshold Binary: nu gi tr cc im nh cao hn gi tr ngng th c thit
lp gi tr mi l gi tr cao nht (255), thp hn gi tr cc im nh v mc 0;
b. Threshold binaru, inverted: ngc vi Threshold Binary
c. Truncate: gi tr cc im nh cao hn gi tr ngng s b thay i bng gi tr

ngng, thp hn gi nguyn.
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d.
18
Threshold to Zero: gi tr cc im nh cao hn gi tr ngng s c gi li
cn cc im nh c gi tr thp hn gi tr ngng s a v gi tr 0.
e. Threshold to Zero, inverted : Ngc li vi Threshold to Zero.
2.3 - Gim nhiu.

Nhiu trong nh l do nhiu nguyn nhn bao gm: s thoi ha theo thi gian,
qu trnh sao chp. Mt s k thut x l nh s c p dng loi b nhiu. Sau
khi c nh phn ha, nh s c lc gim nhiu. Trn thc th tn ti nhiu
loi nhiu, tuy nhin ngi ta thng xem xt 3 loi chnh: nhiu cng, nhiu nhn
v nhiu xung. Chng xut hin nhng im nh khc bit so vi vng xung quanh.
Bn cht ca nhiu l thng tng ng vi tn s cao v c s l thuyt ca cc
b lc l ch cho nhng tn hiu c tn s no thng qua, do lc nhiu
ngi ta thng s dng b lc thng thp hay trung bnh. Vi nhiu cng v nhiu
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nhn ta dng cc b lc thng thp, trung bnh; vi nhiu xung ta dng lc trung v
gi trung b.
Trong lc trung bnh, ngi ta u tin cho cc hng bo v bin ca nh
khi b m khi lm trn nh. Cc kiu mt n c s dng ty theo cc cc trng
hp khc nhau. Cc b lc trn l b lc tuyn tnh theo ngha l im tm ca s
s c thay bi t hp cc im ln cn chp vi mt n. Lc thng thp thng
dng lm trn nhiu.
Cc b lc phi tuyn cng c dng trong k thut tng cng nh. Trong k
thut ny ngi ta dng b lc trung v, b lc gi trung v. Vi b lc trung v cc
im nh s c thay th bi trung v cc im nh, b lc gi trung v th cc im
nh c thay th bi trung bnh cng ca gi tr trung vi..
Sau y l mt s b lc thng dng.
2.3.1 B lc hp thng thng (Normalized Box filter).

y l b lc n gin nht.
Mi im u ra l trung bnh ca cc im lng ging ht nhn ca mnh (tt c cc
im xung quanh ng gp vi trng lng bng nhau.
1
K
K width K Height
1
1
.
1
1
1
.
.
1
1 ... 1
1 ... 1
. ... 1
. ... 1
1 ... 1
OpenCv cung cp cc chc nng blur thc hin gim nhiu vi b lc ny.
Blur(src,dst,size(i,i),point(-1,-1))
src: nh ngun
dst: nh ra
size(w,h) : xc nh kch thc ca ht nhn s c s dng ( chiu
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rng w pixel v chiu cao h pixels.

Point(-1,-1) ch cc im c v tr hng xm.
Hnh 2.4 S dng b lc hp thng thng.
2.3.2 B lc gaussian (Gaussian Filter).

y l b lc hu ch nht (mc d khng phi l nhanh nht).
N c thc hin bi chc nng GaussianBlur trong OpenCV.
gaussianBlur(src,dst,size(i,i),0,0)
src: hnh nh ngun
dst: hnh nh u ra.
size(w,h). kch thc ca ht nhn s c s dng. w v h phi l s
l v tch c nu khng kch thc s c tnh bng cch s dng i
s x v y.
x lch chun trong x. Vit 0 ng rng lch c tnh bng cc
s dng kch thc ht nhn.
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21
y lch chun y.
Hnh 2.5 s dng b lc Gaussian
2.3.3 B lc Median (Median Filter):

Cc b lc trung bnh chy qua tng phn t ca tn hiu v thay th mi im
nh vi trung bnh ca cc im anh ln cn n.
B lc ny c cung cp bi cc chc nng medianBlur trong th vin
OpenCV.
medianBlur (src,dst,i);
src: nh ngun.
dst: nh u ra ( c kch thc ging nh src)
i: kch thc ca ht nhn ( i phi l).
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Hnh 2.6 s dng b lc Median
2.3.4 B lc song phng (Bilateral filter).

Hu ht cc b lc c mc tiu chnh l lm mn hnh nh u vo. Tuy nhin
cc b lc khng ch gim nhiu m cn lm m cc cnh. trnh iu ny chng ta
x dng b lc song phng. V OpenCV cung cp chc nng bilateralFilter.
bilateralFilter(src,dst,i,i*2,i/2);
src: nh ngun
dst: nh u ra
d: ng knh ca vng ln cn im nh.
color: lch chun trong khng gian mu.
Space: lch chun trong khong ta .
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Hnh 2.7 s dng b lc song phng
2.3.5 Filter2D
Ngoi nhng b lc thng dng nh trn th th vin OpenCV cn cung cp b lc m
chng ta c th thay i kch thc ht nhn. l filter2D.
Filter2D(src, dst, ddepth, kernel, anchor, delta, BORDER_DEFAULT)
Src: nh ngun.
Dst: nh u ra.
Ddepth: su ca dst. Gi tr -1 l ch ra su nh ngun,
Kernel: ht nhn
Anchor: v tr lin quan n ht nhn ca n.
Delta: gi tr c thm vo mi im nh. Mc nh bng 0
BORDER_DEFAULT: gi tr mc nh
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Hnh 2.8 filter2D nhn thay i tng dn t tri qua phi.
2.4 - Bin v cc phng php tm bin.

2.4.1 Khi nim v bin:
Bin l mt vn ch yu trong phn tch nh v k thut phn on ch yu
da vo bin. Mt im nh c th coi l im bin nu c s thay i t ngt v mc
xm hay bin l im c cp xm c gii tr khc hn cc im xung quanh, tp hp
cc im bin to thnh bin hay ng bao ca nh.
Sau y ti s gii thiu mt s phng php tm bin m th vin OpenCV h
tr rt tt.
2.4.2 Phng php Gradient.

Da vo cc i ha ca o hm. Theo nh ngha, gradient l viector c cc
thnh phn biu th tc thay i gi tr ca im nh theo hai hng x v hng
y. Cc thnh phn ca Gradient c tnh bi:
f ( x, y)
f ( x dx, y) f ( x, y)
f 'x
x
dx
f ( x, y)
f ( x, y dy) f ( x, y)
f 'y
y
dx
Trong dx, dy l khong cch gia hai im k cn theo hng x,y tng ng
(thc t chn dx=dy=1). y l phng php da trn o hm ring bc nht theo
hng x,y.
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Gradient trong gc ta (r,), vi r l vector, l gc

df (r , ) f dx f dy
f ' x cos f ' y sin

dr
x dr y dr
f(.) t cc i khi
df (.)
0
dr
tc: fxcos + fysin = 0 hay:

sin
f 'x
tg cos f ' y
r arctg f ' x v f
max
f'y
f 'x f ' y
2
Theo nh ngha v gradient, nu p dng n vo x l nh, vic tnh ton s

rt phc tp. n gin m khng mt tnh cht ca phng php Gradient,
ngi ta s dng k thut Gradient dng cp mt n H1, H2 trc giao. Nu nh
ngha g1, g2 l Gradient theo hai hng x, y tng ng th bin g(m,n) ti
im (m,n) c tnh:
g (m, n) g12 (m, n) g 22 (m, n)
t A0 = g(m,n);
r(m,n)=artg(g2(m,n))
gim phc tp tnh ton, A0 c tnh gn ng nh sau:
A0=|g1(m,n)| + |g2(m,n)|
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Cc ton t o hm c p dng kh nhiu, y, ta ch xt mt s ton t

tiu biu: Robert, Sobel, prewitt, ng hng(Isometric), 4- ln cn (th vin
OpenCV h tr Sobel tm bin kh tt).
a. Ton t Robert (1965).
Vi mi im nh I(x,y) ca I, o hm theo x, theo y c k hiu tng ng
bi gx, gy c tnh:
g x I ( x 1, y ) I ( x, y )
g y I ( x, y 1) I ( x, y )
iu ny tng ng vi vic chp hai mt n H1 v H2 theo hai hng x v

y:
0 1
Hx
1 0
1 0
Hy
0 1
Hng ngang (x)
Hng theo (y)
b. Ton t mt n Sobel.
Ton t Sobel c Duda v Hart t ra vo nm 1973 vi cc mt n tng
t nh ca Robert nhng cu hnh khc nh sau:
1 0 1
H x 1 0 1
1 0 1
Hng ngang (x)
1 1 1
H y 0 0 0
1 1 1
Hng dc (y)
c. Mt n Prewitt
Ton t Prewitt da ra nm 1970 c dng.
1 0 1
H x 2 0 2
1 0 1
Hng ngang (x)
1 2 1
H y 0
0
0
1
2
1
Hng dc (y).
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d. Mt n ng hng:
Mt mt n khc cng c nu nh di y gi l mt n ng hng
(Isornetric).
1 0
H x 2 0
1 0
1
2
1
Hng ngang (x)
1 2
Hy 0
0
1 2
0
1
Hng dc (y).
e. Ton t 4-ln cn (4-Neighbour Operator).

Ton t 4-ln cn c Chaudhuri v Chandor (1984) nu ra trong mt n
c kch thc 3x3 c thay th cho mt n 2x2 ca ton t Robert. Mt n 4ln cn c cho nh sau:
Theo hng x
Theo hng y
Nhn xt:
Ton t Prewitt c th tch sn tt hn ton t Sobel, trong khi ton t
Sobel tch cc sn cho tt hn. Mt khc, cc ton t Robert v cc ton t 4-ln cn
c nhc im l nhy vi nhiu, Cc ton t Gradient v Sobel gim nhiu do tc
dng ca lc trung bnh cc im ln cn. Nh vy, t c kt qu mong mun
cc ton t Gradient thng c dng trc lm sch nhiu.
Cc mt n ca ton t trn c kch thc 2x2 hoc 3x3 chiu. Cc mt n c s
chiu ln hn cng c s dng. V d trong k thut pht hin bin ngi ta dng
mt n 5x5 cho ton t Sobel.
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Trong th vin OpenCv c chc nng Sobel vi mt n:

3 0 3
G x 10 0 10
3 0 3
3 10 3
G y 0
0
0
3 10 3
Cho kt qu tt hn so vi Sobel theo chc nng tiu chun.

Mat grad_x, grad_y;
Mat abs_grad_x, abs_grad_y;
/// Gradient X
Sobel( src_gray, grad_x, ddepth, 1, 0, 3, scale, delta, BORDER_DEFAULT );
/// Gradient Y
Sobel( src_gray, grad_y, ddepth, 0, 1, 3, scale, delta, BORDER_DEFAULT );
Src_gray: hnh nh u vo.
Grad_x/ grad_y, nh u ra.
Ddepth. su ca hnh nh u ra.
X_order: th t ca cc pht sinh theo hng x,
Y_order: th t ca cc pht sinh theo hng y,
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Hnh 2.9 Tm bin bng chc nng Sobel trong OpenCV
2.4.3 Ton t la bn.

Kirsh xut mt n 8 hng nh 8 hng la bn. Hnh 2.10 l m hnh 8
hng v c t tn theo hng a l v theo chiu kim ng h: ng, ngNam, Nam, Ty-Nam, Ty, Ty-Bc, Bc, ng-Bc; mi hng lch nhau 45 .
Hnh 2.10 Mt n 8 hng theo Kirsh.
b.
Ton t la bn Krish:
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C nhiu ton t la bn khc nhau. Ta xem xt ton t la bn Kirsh c trng bi

tm mt n vi kch thc 3x3 nh sau:
5
5
5
H B 3 0 3
3 3 3
3 3 3
H N 3 0 3
5
5
5
H T B
5 3
5
3 0 3
3 3 3
H B
5
3 5
3 0
5
3 3 3
3 3 5
H 3 0 5
3 3 5
H N
3 3 3
3 0
5
3 5
5
5 3 3
H T 5 3 3
5 3 3
H T N
3 3 3
5
0 3
5
5 3
K hiu Ai ; i= 1,2,.,8 l Gradient theo 8 hng nh 8 mt n k trn, khi bin

Gradient ti im (x,y) c tnh theo.
A(x,y) = Max(|gi(x,y)|) i= 1,2,.,8.
Nu ly o hm bc hai ca nh: ta c phng php Laplace
Hai phng php ny gi chung l phng php d bin cc b.
c.
Ton t la bn khc:
Ngoi ton t la bn Kirsh, mt s ton t la bn khc s dng b mt n tm

hng khc nh:
n Tt Nghip
1 1 1
H B 1 2 1
1
1
1
1
1
1
H N 1 2 1
1 1 1
H T B
1 1 1
1 2 1
1
1 1
31
H B
1 1 1
1 2 1
1 1
1
1 1 1
H 1 2 1
1 1 1
H N
1
1 1
1 2 1
1 1 1
1 1 1
H T 1 2 1
1 1 1
HT N
1 1
1
1 2 1
1 1 1
H B
0 1 2
1 0 1
2 1 0
1 0 1
H 2 0 2
1 0 1
H N
2 1 0
1 0 1
0
1 2
1 0 1
H T 2 0 2
1 0 1
HT N
0 1 2
1 0 1
2 1
0
Hoc:
2
1
1
HB 0
0
0
1 2 1
1 2 1
H N 0
0
0
1
2
1
H T B
0
2 1
1 0 1
0 1 2
2.4.4 Laplace.
khc phc hn ch v nhc im ca phng php Gradient, trong s dng
o hm ring bc nht ngi ta ngh n vic s dng o hm ring bc hai hay ton
t Laplace. Phng php do bin theo ton t Laplace hiu qu hn phng php ton
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t Gradient trong trng hp mc xm bin i chm, min chuyn i mc xm c

tri rng.
Ton t Laplace c nh ngha nh sau:
2 f
2 f 2 f
x 2 y 2
Ton Laplace dng mt s mt n khc nhau nhm tnh gn ng o hm ring

bc 2. Cc dng mt n theo ton t Laplace bc 3x3 c th:
0 1 0
H 1 1 4 1
0 1 0
1 1 1
H 2 1 8 1
1 1 1
1 2 1
H 3 2 5 1
1 2 1
Ghi ch: mt n H1 cn ci bin bng vic ly gi tr tm bng 8 thay v gi tr 4.

thy r vic xp x o hm ring bc 2 trong khng gian 2 chiu vi mt n H1 lm
v d, ta c th tnh gn ng nh sau:
2 f
2 f ( x, y) f ( x 1, y) f ( x 1, y)
x 2
2 f
2 f ( x, y) f ( x, y 1) f ( x, y 1)
y 2
Do :
2 f 2 f
f 2 2 4 f ( x, y) f ( x 1, y) f ( x 1, y) f ( x, y 1) f ( x, y 1)
x
y
2
Tm li: K thut Laplace to ng bin mnh ( c rng 1 pixel). Nhc im

ca k thut ny l rt nhy vi nhiu, do ng bin thu c thng km n nh.
Phng php Laplace c h tr sn c trong th vin OpenCV.
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Laplacian( src_gray,dst,ddepth,kernel_size,scale,delta, BORDER_DEFAULT );

Src_gray: nh u vo.
Dst: nh u ra.
Ddepth: su ca nh.
Kernel_size: kch thc ht nhn
Scale, delta and BORDER_DEFAULT: nhng gi tr mc nh
Kt qu : hnh 2.11
Hnh 2.11 Tm bin Laplace
2.4.5 Tch sn nh theo Canny.

B tch sng nh theo Canny (1986) da trn cp o hm ring bc nht vi vic
lm sch nhiu. Mc ny c ring v y l phng php tch ng bin kh
ph bin c bit n nh l phng php d ti u, n p ng c ba tiu ch sau:
T l li thp: pht hin tt cc cnh.
Phn vng tt: Khong cch gia cc im nh cnh pht hin v pixel thc
t phi c gim nhiu.
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p ng ti thiu: c cch d cho mi cnh.

Cc bc lm theo Canny:
a.
Gim nhiu: thc hin vic gim nhiu b lc Gaussian c s dng. Mt
ht nhn Gaussian c c bng 5 c th c s dng di y:

2
4
1
5
K
159
4
2
9 12 9
12 15 12
9
4
12
5
9
4
2
4
5
4
2
b. Tm gradient cng ca hnh nh. iu ny c thc hin tng t nh Sobel

p dng mt cp mt n theo hng x v y:
1 0 1
Gx 2 0 2
1 0 1
1 2 1
Gx 0
0
0
1
2
1
Tm gradient v hng c lm trn

G Gx2 G y2
Gy
Gx
arctan
Hng c lm trn n mt trong bn gc c th ( c th l 0,45,90 hay 135).

c.
c ch ti a. S dng loi b cc im nh khng c coi l mt phn ca
mt cnh.
d. Tr. y Canny s dng hai ngng cao v thp.
Nu mt pixel cao hn ngng trn (cao), im nh c chp nhn l mt
cnh.
Nu mt pixel thp hn ngng thp. n s b t chi.
Nu gia hai ngng. N s c chp nhn khi n gn vi mt pixel
trn ngng cao.
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35
T l ngh cao/thp gia 2/1 v 3/1
Hnh 2.12 Tm bin theo Canny
2.5 - Bin i Hough

Bin i Hough l phng php dng xc nh ng thng ( ng trn elip)
gn ng i qua mt tp hp im.
Vi (x, y) l mt im y=mx+c
c =-mx + y
Nh vy nu c N im nm trn mt ng thng
mxi c yi
i , N
c yi xi m
i 1, N
Thay v tm N im trn ng thng, ngi ta xt tt c cc im, xem im no

c nhiu dng thng i qua nht.
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Hnh 2.13 Trc ta cc i qua 2 im.
Hnh 2.14 Trc ta cc

Thc cht bin i Hought l bin im thnh ng thng.
a[m][c] 0 m, c
xi , yi m, c
tm
c y i xi m
th
a[m][c]
Sau m trn ma trn

Hn ch: h s 0< m <
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37
1
| m | 1 th luu a [c]
m
| m | 1 th luu a[m][c]
Bin i Hough theo ta cc.
Hnh 2.15 H ta cc.

Cc im trn ng thng c ta cc t/m
v r
M 2 N2
vi M v N l chiu cao v chiu rng ca nh.
2
Ly ti tm nh
r ,
r ,
ar 0
x, y nu
th
r x cos y sin
ar
vi
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38
Hnh 2.16 ng thngHough trong ta cc.

Bin i Hough nh x N im thnh N ng sin trong ta cc cc ng ny
u i qua im (ri, i). Giao im (ri, i) ca N ng sin s xc nh mt ng thng
trong h ta cc. Nh vy, nhng ng thng i qua im (ri, yi) s c by
nhiu cp gi tr (ri, i). Mc ch tm ra cp (r,) sao cho s ng hnh sin i qua
nhiu nht, v cp chnh l cp tham s cho ng thng.
Hough vi OpenCv
thun tin cho vic dng Hough tm ng thng v ng trn trong nh th
OpenCv cung cp chc nng HoughLines, HoughLinesP v HoughCircles.
a. Tm ng thng vi HoughLines v HoughLinesP. Hnh 2.17
HoughLines
vector<Vec2f> lines;
HoughLines(dst, lines, 1, CV_PI/180, 100, 0, 0 );
Dst: u ra. ( l nh xm)
Lines: mt vector lu tr thng s (r,) ca cc dng c pht hin
Rho: phn gii ca tham s r theo Pixel. Thng s dng 1 pixel.
Theta: phn gii ca tham s theo radian. Thng s dng 1
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(CV_PI/180)
Threshold: s lng ti thiu ca nt pht hin.
Srn v stn: thng s mc nh.
HoughLinesP
vector<Vec2f> lines;
HoughLines(dst, lines, 1, CV_PI/180, 100, 0, 0 );
Dst: u ra (nh xm)
Lines: Mt vector s lu tr cc thng s
ca
cc dng c pht hin.

Rho: phn gii ca tham s r theo pixel. ( thng s dng 1 pixel)
Theta: phn gii ca tham s theo radian (thng s dng l 1
CV_PI/180)
Threshold: s lng ti thiu nt
MinhLinLength: s lng ti thiu ca cc im c th to thnh mt
ng. nu t hn s b b qua.
maxLinegap: khong cc ti a gia hai im c xem xt trong cng
mt dng.
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Hnh 2.17 Kt hp gia HoughLines vi HoughCircles

b. Tm ng trn vi HoughCircles. Hnh 2.18
vector<Vec3f> circles;
HoughCircles( src_gray, circles, CV_HOUGH_GRADIENT, 1, src_gray.rows/8,
200, 100, 0, 0 );
Src_gray: u vo l mt nh xm
Circles:mt vector lu ch 3 gi tr xc, yc , r cho mi vng trn tm c.
CV_HOUGH_GRADIENT:xc nh phng php pht hin. y l
phng php duy nht sn c trong OpenCV
Dp=1: t l nhch o ca phn gii.
Min_dist = src_gray.rows/8: khon cc ti thiu gia tm pht hin c
Param_1 =200: ngng pht hin cnh canny ni b.
Pram_2 = 100*: ngng pht hin tm.
Min_radius = 0:t nh mc nh
Max_radius =0: bn knh ti a c pht hin. Nu khng bit th t
nh l mc nh ( gi tr 0).
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Hnh 2.18
41
Tm thy hnh trn trong mu c hnh trn.
2.6 - Mt s hm c bn trong th vin OpenCV

Trong nhng phn trc em n mt s hm ca OpenCV trong phn ny ti
s gii thiu nhng hm c bn h tr cho cc hm c cp trn. V cp
ti hm tm ti tng hu hiu trong th vin OpenCV.
2.6.1 Ti mt nh v hin th nh.

y l mt chc nng n gin khng th thiu ca OpenCV.
Ti mt nh.
mat src; //to mt mat src
src = imread(argv[1],1);
Mat = iplimage.
Argv[1]: ngun hnh nh (ng dn)
1: ti nh ln ch nh mu
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Hin th nh.
//------to mt ca s vi tn nguon---------------------nameWindow(nguon, CV_WINDOW_AUTOSIZE);
//------ti nh src ln ca s nguon----------------------imshow (nguon,src);
Hnh 2.19 Ti mt nh vo ca s windows
2.6.2 Chuyn nh mu sang nh xm.

y l chc nng chuyn nh mu v nh xm ca th vin OpenCV. Bc
chuyn i nh mu v nh xm l bc lm cn thit quan trng cho cc bc x l
nh tip theo.
Chuyn nh mu sang nh xm (hnh 2.19)
cvtColor(src, src_gray, CV_BGR2GRAY);
Src: nh ngun
Src_gray: nh xm u ra.
CV_BGR2GRAY: chuyn t my BGR sang xm
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Hnh 2.20
43
Chuyn nh mu sang nh xm.
2.6.3 Tm i tng bng findContours.

y chng ta s tm i tng thng qua bin. N khng chnh thng l mt
thut ton v vy em findContours vo phn ny coi nh cc hm OpenCV hu ch
trong vic tm i tng trong nh.
Sau y chng ta xem cch s dng hm findContours v xem n hu nh th
no khi dng cc cng c khc nh du nhng vng tm c.
void findContours ( InputOutputArray image , OutputArrayOfArrays contours,
OutputArray hierarchy , int mode , int method , Point offset =Point() )
image: nh ngun 8-bit knh n. ( nh qua cc x l nh phn , tch
ngng, canny)
contours: ng vin c lu tr nh mt vector cc im.
hierarchy: ty chn u ra vector bao gm cc thng tin v cu trc lin
kt hnh nh. N c nhiu yu t nh s lng cc ng nt.
Mode: ng vin hi ch : v d CV_RETR_TREE ly tt c cc
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44
ng bin v xy dng li mt h thng phn cp y cc ng

nt lng nhau.
Method:
phng
php
ly
ng
vin
xp
x.
d:
CV_CHAIN_APPROX_SIMPLE nn phn on ngang , dc cho v

ch ra v tr.
Offset. Ty trn b p.
Kt qu: Hnh 2.21
Hnh 2.21 S dng findContours tm i tng
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45
CHNG 3. Bi ton nhn dng bin s xe.

3.1 - Khi nim v nhn dng bin s xe.
3.1.1 Khi nim.
H thng nhn dng bin s xe l h thng c kh nng phn tch hnh nh v xc
nh bin s trn xe, thng qua video, thit b ghi hnh v hnh nh. Sau l xc nh
thng tin nh: ch s hu,
Phn loi ng dng nhn dng bin s xe:
ng dng nhn dng bin s xe l ng dng c kh nng phn tch hnh nh v xc
nh bin s xe t cc hnh nh chp c t cc thit b thu hnh. Ngun hnh nh cho
ng dng c rt nhiu. V pht trin, hnh nh c trc tip thu nhn t camera.
Trong bo co tt nghip em ch dng li mc xc nh bin s xe (ct cc vng ch
trn bin) t cc bc nh.
C nhiu cch thc khc nhau phn loi cc ng dng nhn dng bin s xe.
Mt trong nhng cch n gin l phn loi ng dng nhn dng bin s xe thng qua
mc ch s dng. C th chia ng dng nhn dng bin s xe thnh hai loi sau:
Loi 1: Gii hn vng nhn
u vo: nh thu trc tip t cc thit b ghi nhn nh k thut s. nh c ghi
nhn thng ch gii hn trong vng c bin s xe.
Nguyn l hot ng: Cc phng tin giao thng phi chy vi mt tc
chm my ghi nhn hnh nh c th thu c nh vng bin s xe.
ng dng: Nhng ng dng nhn dng bin s xe loi ny thng c dng
ti cc trm kim sot cc trm thu ph, cc bi gi xe t ng , cc trm gc cng
(hnh 3.1).
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46
Hnh 3.1 H thng t ng nhn dng bin s xe.

Loi 2: Khng gii hn vng nhn.
u vo: nh u vo thu c t thit b ghi hnh t ng, khng ph thuc
vo gc , cc i tng xung quanh, nh khng cn bt buc ch chp vng cha

bin s xe, m c th l nh tng hp nh cha thm cc i tng nh ngi, cy,
ng ph, min l vng bin s phi d r c th nhn dng c k t trong
vng .
Nguyn ly hot ng: do c tnh khng gii hn vng nhn m nh u vo c
th thu c t mt thit b ghi hnh ( camera, my nh). V do , cng vic u tin

l d tm trong nh, xc nh ng vng no l bin s xe. Sau , thc hin tch
vng v nhn dng. Cui cng ty thuc vo mc ch s dng ma kt qu nhn dng
c truyn i hay lu tr phc v nhu cu ca ngi dng cui.
ng dng: v khng ph thuc vo phm hnh nh thu c nn c dng ng
dng ti nhiu ni nh ti nhng im iu tit giao thng, ti cc v tr nhy cm ca

giao thng nh ng ba, ng t ng giao nhau. Kim sot, pht hin nhng hnh vi vi
phm an ton giao thng.
n Tt Nghip
47
Yu cu thit b:
- My qut
- n chiu
- B phn thu- tch hnh nh
- My tnh
- Mt s thit b khc ty mc ch s dng.
Trong qu trnh tm hiu, xy dng n em hng ti ng dng loi 2. V vy
trong bo c ny ch nu cch thc gii quyt lm sao nhn dng v tch cc k t ch
v s ca phn bin s ( mc 3.2).
3.1.2 ng dng.
H thng nhn dng bin s xe c xy dng nhm mc ch gim st, kim sot
cc phng tin. Di y chng ta cp n mt s ng dng ph bin i vi h
thng nhn dng bin s xe:
- Thu ph giao thng: Lp t h thng Nhn dng bin s xe ti cc trm thu ph
nhm h tr hoc t ng ha cng tc thu ph.
- Kim sot xe ti cc ng bin gii: Mi quc gia c nhng quy nh ring
v bin s xe, phc v cho cng tc qun l v pht hin nhng phng tin giao
thng vt bin bt hp ph. Vic lp t h thng Nhn dng bin s xe ti cc trm
kim sot s gp phn h tr cng tc kim tra v an ninh quc gia.
- Cc trm gc cng: Vic lp t h thng s h tr hoc t ng ha cng tc
m cng cho xe ra vo.
- X l vi phm giao thng: Khi lp t h thng s h tr vic s l vi phm giao
thng ng b v c th t ng bo li vi phm. Hin ang c th im trn mt
s tuyn ng ca Quc l 1A x l li chy qu tc .
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Ngoi ra, h thng cn c ng dng vo cng tc chng trm xe, cc bi gi xe

t ng, iu tit giao thng .
3.1.3 Phn loi bin s xe.

Trc tin l quy nh bin s ca 64 tnh thnh ( Bin trng ch en):
11-Cao Bng
43 - Nng
77 - Bnh nh
12 - Lng Sn
47 - c Lc
78 - Ph Yn
14 - Qung Ninh
48 - c Nng
15,16 - Hi Phng
17 - Thi Bnh
18 - Nam nh
19 - Ph Th
20 - Thi Nguyn
21 - Yn Bi
22 - Tuyn Quang
23 - H Giang
24 - Lo Cai
25 - Lai Chu
26 - Sn La
27 - in Bin
28 - Ha Bnh
29,30,31,32 - H Ni
33 - H Ty
34 - Hi Dng
35 - Ninh Bnh
79 - Khnh Ha
49 - Lm ng
80 - Cc n v kinh t
50 n 59 - TP. H Ch
thuc TW (hng khng)
Minh
81 - Gia Lai
60 - ng Nai
61 - Bnh Dng
62 - Long An
63 - Tin Giang
64 - Vnh Long
65 - Cn Th
66 - ng Thp
67 - An Giang
68 - Kin Giang
69 - C Mau
70 - Ty Ninh
71 - Bn Tre
72 - B Ra - Vng Tu
73 - Qung Bnh
36 - Thanh Ha
82 - KonTum
83 - Sc Trng
84 - Tr Vinh
85 - Ninh Thun
86 - Bnh Thun
88 - Vnh Phc
89 - Hng Yn
90 - H Nam
92 - Qung Nam
93 - Bnh Phc
94 - Bc Liu
95 - Hu Giang
97 - Bc Cn
98 - Bc Giang
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37 - Ngh An
74 - Qung Tr
38 - H Tnh
75 - Hu
99 - Bc Ninh
76 - Qung Ngi
Nhng quy nh v mu sc v ch s c bit:

1. Mu xanh ch trng l bin xe ca cc c quan hnh chnh s nghip:
- Trc thuc chnh ph l bin xanh 80.
- Trc thuc tnh thnh th theo s tng ng.
2. Mu ch trng l bin xe trong qun i:
AT: Binh on 12.
AD: Qun on 4 , Binh on cu long.
BB: b binh.
BC: Binh chng Cng Binh.
BH: Binh chng ho hc.
BS: Binh on Trng Sn.
BT: Binh chng thng tin lin lc.
BP: B t lnh bin phng.
HB: Hc vin lc qun.
HH: Hc vin qun y.
KA: Qun khu 1.
KB: Qun khu 2.
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50
KC: Qun khu 3.

KD: Qun khu 4.
KV: Qun khu 5.
KP: Qun khu 7.
KK: Qun khu 9.
PP: Cc qun y vin.
QH: Qun chng hi qun.
QK, QP: Qun chng phng khng khng qun.
TC: Tng cc chnh tr.
TH: Tng cc hu cn.
TK: Tng cc cng nghip quc phng.
TT:Tng cc k thut.
TM: B tng tham mu.
VT: Viettel.
BL: b t lnh 969.
3. Mu trng 2 ch, 5 s l bin dnh cho ngi nc ngoi:
-
NG l xe ngoi giao
NN l xe ca cc t chc, c nhn nc ngoi: trong c 3 s gia l m quc

gia, 2 s tip theo l s t t.
Xe s 80 NG xxx-yy l bin cp cho cc i s qun, thm gch gia v hai s
cui l 01 l bin xe ca tng lnh s.

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51
4. Nhng xe mang bin 80 gm c:

-
Cc ban ca Trung ng ng.
Vn phng Ch tch nc.
Vn phng Quc hi.
Vn phng Chnh ph.
B Cng an.
Xe phc v cc ng ch y vin Trung ng ng cng tc ti H Ni v cc

thnh vin Chnh ph.
B ngoi giao.
Vin kim sot nhn dn ti cao.
Ta n nhn dn ti cao
i truyn hnh Vit Nam.
i ting ni Vit Nam.
Thng tn x Vit Nam.
Bo nhn dn.
Thanh tra Nh nc
Hc vin Chnh tr quc gia.
Ban qun l Lng, Bo tng, khu di tch lch s H Ch Minh.
Trung tm lu tr quc gia
y ban Dn s k hoch ha gia nh.
Tng cng ty Du kh Vit Nam.
Cc i s qun, t chc quc t v nhn vin ngi nc ngoi.
y ban Chng khon nh nc.
Cc hng khng dn dng Vit Nam.
Kim ton nh nc.
5. Cc bin A:
Xe ca Cng an Cnh st tng ng vi cc tnh.
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V d; 35A xe ca Cng an Cnh st tnh Ninh Bnh.

6. Bin 5 s.
Theo quy nh ca Thng t 36/2010/TT-BCA do B Cng An ban hnh ngy 12
thng 10 nm 2010, k t ngy 6 thng 12 nm 2010 cc bin s xe ti Vit Nam s
tng t bn ln nm ch s (phn m rng) khi ng ky mi ( bin c vn dng bnh
thng, v c th chuyn sang bin mi nu c nhu cu). Bin s xe mi, kch thc
vn gi nguyn nhng dy s m rng trn bin khng lin nhau m b gt qung (
hnh
3.2)
Hnh 3.2 Bin s mi.
3.2 - Mt s hng gii quyt bi ton nhn dng bin s xe.

C rt nhiu phng php tip cn. Trong c nhng cch tip cn ph bin sau.
3.2.1 Hng tip cn pht trin vng.

Nhm tc gi Nigel Whyte and Adrien Kiernan c i din cho cch tip cn
ny.
tng ca phng php ny: l bin s xe thng cha mt mu ng
nht, chng hn nh mu trng v c din tch tng i nht nh. V vy c th dng
phng php pht trin vng hoc s dng khung ch nht di chuyn trong tm ra
vng c tnh cht tha mn bin s xe v tin hnh nhn dng.
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u im: rt n gin, v x l nhanh i vi nhng nh ch cha vng bin s

xe.
Nhc im: khi nh c thm nhiu i tng khng phi l vng bin s xe,
chng hn l nh chp tng qut gm c cnh vt bn ngoi th cch tip cn ny tr
nn khng hiu qu. V vy, phng php ny rt c hiu qu i vi h thng trm
thu ph, trm gc cng, gi xe t ng.
3.2.2 Hng tip cn d bin v bin i Hough.

Nhm tc gi Michael Lindenbaum, Rosen Alexander, Vichik Sergey, Sandler
Roma c i din cho cch tip cn ny.
tng ca cch tip cn ny l: Bin s xe c bao bc bi ng vin. Do
, c th dng phng php pht hin bin, sau dng php bin i Hough trch
nhng on thng dc, ngang tn ti trong nh. Giao im ca nhng on thng ny
chnh l vng bao cha bin s xe. V cui cng l nhn dng cc k t trn mi
vng con.
u im: chnh xc cao. V h thng nhn dng a phn u pht trin theo
hng tip cn ny.
Nhc im: phc tp tnh ton kh cao. Khi nh c thm nhiu i tng
khc nhau th khi lng tnh ton tng ln rt nhiu. Do mc ch l phi xc nh
c vng con no cha bin s xe.
Ngoi hai cch tip cn ph bin trn cn c nhiu cc tip cn khc xc nh
chnh xc vng no cha bin s xe.
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3.2.3 Phn ngng v tm vng i tng (hng tip cn ca n).

tng: nhn thy cc vng bin s l cc vng c trng c hnh ch nht, c
t l kch thc theo tiu chun. V vy sau khi tch ngng v tm vng (OpenCV h
tr findContourns) ta tm nhng vng c t l theo kch thc ging vi t l ca bin
s xe. c th lc cc vng bin s mt ln na th ta tip tc tm s vng con trn
vng bin s v so snh vi s lng k t ca bin s.
3.3 - Hng gii quyt.

phn 3.2 chng ta tm hiu nhng hng gii quyt cho vic xc nh vng
cha bin s xe. Mi cch gii quyt c nhng u im v hn ch ring ca n tuy
nhin s c hng gii quyt nht nh da trn c trng ca bin s xe.
Mt s c im bin s xe Vit Nam.
Hnh 3.3 Mt s loi bin s xe thng dng

a. Tiu chun v kch thc:
mi nc thng c tiu chun v kch thc nht nh. i vi nc ta, bin s
xe qui nh kh ng u cho mi loi xe, t l chiu di, rng cho mi loi xe l nh
nhau.
-
i vi loi xe c mt hng k t th t l di/rng l: 3.5 W / H 4.5 .
i vi loi xe c hai hng k t th t l di/rng l: 0.8 W / H 1.4 .

T nhng c im ny, ta c c th xc nh c cc vng con tha mn th kh
nng cha bin s l rt cao.

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b. S lng k t trong bin s xe:

Mi k t thng c t l kch thc chiu rng, chiu cao tng ng vi chiu di
v rng ca bin s xe. V d, chiu cao ca mi k t lun nh hn 85% chiu cao
ca bin s xe v lun ln hn 33% chiu cao ca bin xe. Cn chiu rng ca k t
khng ln hn 20% chiu di ca bin s xe. Mi k t ca bin s xe c xem nh
l mt vng lin thng con. Do , chng ta c th m vng lin thng con tha mn
tch cht l k t. Ch s k t trn bin s xe l t 6 n 10 k t. nc ta ch
c s k t trn mi bin s xe nm trong khong 6 n 9 k t. Vy ta c th dng
ngng [6.9] nhn dng vng bin s xe.
T nhng nhn xt trn, chng ta c th a ra gii php cho bi ton nhn dng:
1. S dng pht hin bin v bin i Hough. Sau s dng hai tnh cht trn
bin s xe xc nh chnh xc vng con cha bin s xe. Khi xc nh chnh xc
vng con cha bin s th tin hnh nhn dng cc k t. y l cch tip cn ca kh
nhiu cc bi ton nhn dng s dng d bin kt hp vi Hough.
2. S dng tch ngng v phn vng i tng. S dng vic tch ngng loi
b nhng vng khng phi l bin s ( c cng t l kch thc nhng c xm thp
hn di 100). Sau tin hnh tm vng i ng theo t l ca bin s ta s thu
c s lng phn vng bin s t hn. Tip s dng tm vng i tng mt ln
na vi cc phn vng bin s ly s lng k t tch c so snh vi s lng k t
hp l to tm phn vng bin s chnh xc hn. V cng tin hnh nhn dng tng
k t c ct ra.
Trong bo co ca mnh em s trnh by theo gii php 2 gm cc bc sau:
Bc 1: Tm vng bin s
Vi nh xm u vo thc hin phn ngng ( hoc d bin canny) v tm i
tng.
Tch cc i tng c t l rng/di trong phm vi bin s lm ngun cho bc
2.
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Bc 2: Tch ring tng k t trn bin s:

Tin hnh tm i tng trn ngun do bc 1 cung cp sau so snh s i
tng nhn c c trng vi s k t tn cc bin s xe khng. Nu khp vi tiu
chun th l nhng vng bin s c kh nng l bin s xe cao nht. Tch ring tng
k t nhn dng quang hc nh OCR hoc mng noron tuy nhin trong bo co ln
ny em ch dng li vic tch ring tng k t ca bin s xe.
3.4 - Pht hin vng cha bin s.

S cc bc pht hin vng cha bin s xe.
nh u vo
Bin i nh xm v
lc nh
Phn ngng
Tm ng bao i
tng
Tch vng bin s
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3.4.1 Giai on 1: Bin i nh xm v lc nh

nh u vo l mt nh bt k, c chuyn v nh c 256 mc xm v tin hnh
lc nh gim nhiu.
tin hnh lc gim nhiu em s dng b lc song phng gim kh nng b
m bin.
(a)
(b)
Hnh 3.4 (a) nh u vo (b) nh x l xm v lc song phng.
3.4.2 Giai on 2: Tin hnh phn ngng hoc pht hin bin.
C hai qu trnh phn ngng l phn ngng t ng v phn ngng
khng t ng.
Vi phn vng bin s l kh nh so vi ton b nh nn qu trnh phn ngng
t ng bng vic ly Histogram s d gy li v khng lm sng t vng bin s.
Qua thc nghim ta thy phn vng bin s thng c ngng t 100 220 v
vy trong phn ny ca mnh em tin hnh th tm vng bin s vi tng ngng bng
vng lp. Vng lp s xut pht t ngng 100 n 220 v thng thng pht hin
vng bin s cc bin r th ngng 100 120 l c th dng vng lp li s tit kim
cc bc tnh ton.
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Kt thc giai on ny ta thu c nh 8-bit knh n lm ngun cho giai

on 3. (hnh 3.5)
3.4.3 Giai on 3: Tm ng bao i ng.

Khi ta tin hnh phn ngng s lm hin r vng bin s, trong giai on ny
ta c th s dng cc phng php pht hin bin.
Khi c nh 8-bit knh n thu c giai on 2 chng ta tin hnh tm cc
vng bin l i tng ring bng hm findContourns (torng th vin OpenCV)
trch cc vng v ly thng s ca cc vng nh ta im ca cc cnh, din tch
ca vng. (hnh 3.6)
Hnh 3.5 nh sau khi tin hnh phn ngng
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Hnh 3.6 Tm ng bao cc i tng
3.4.4 Giai on 4: Tch vng bin s.

Sau khi c c nhng thng s ca giai on 3 tm thy. Da vo cc c im
ca bin s m em tin hnh nh sau:
Tm ng bao i tng vi vi tiu ch t l 3.5 W H 4.5 hoc
0.8 W H 1.4 tm ra nhng vng c th l bin s nht.
hn ch s lng vng tm thy em tip tc lc nh theo tiu ch din tch

hn ch nhng vng qu nh v qu ln so vi vng bin s. Vi nh u vo c
thay i kch c v nh c c 640X480 th vng bin s s nm trong khong din tch
t 1500 25000.
Tin hnh ct cc vng c th l bin s nht trn nh xm lc giai on 1
lm ngun cho giai on ct k t lm mu cho cc qu trnh nhn dng k t (t
xy dng). giai on ny c th kt hp dng cc bi ton nhn dng k t pht
hin bin s xe.(hnh 3.7)
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Hnh 3.7 Sau khi lc bng dc im bin s v ct ring vng bin s
3.5 - Tch ring tng k t

Trong phn ny mc ch chnh l tch cc k t lm mu hun luyn cho
vic nhn dng k t trn bin s. (hnh 3.8)
Cc giai on trong vic phn tch cc k t nh sau:
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nh u vo l nh ch cha bin s xe c trch ra t nh xm qua lc

giai on 4 ca phn 3.4 Pht hin vng bin s.
Hnh 3.8 Cc k t c ct sau khi tm thy vng bin s
3.5.2 Giai on 1: Tin hnh phn ngng.

Giai on ny tng t giai on 2 ca phn 3.4
3.5.3 Giai on 2: Tm vng i tng.

Tng t phn 3.4.3
3.5.4 Giai on 3: Tm v tch vng k t.

Tng t phn 3.4.4 nhng vi tiu ch khc nh.
S k t nm trong khon 6 n 9 k t.
Vng k t c din tch t 50 n 200.
Tin hnh ct k t v lu li.
3.6 - Nhn dng k t quang hc ( mng nron)

Mng nron nhn to ( Artificial Neural Network) bao gm cc nt ( n v x
l) c ni vi nhn bi cc lin kt noron. Mi lin kt km theo c mt trng s
no , c trng cho c tnh kch hot gia cc nron. C th xem trng s l
phng tin lu gia thng tin di hn trong mng v nhim v ca qu trnh hun
luyn (hc) mng l cp nht cc trng s khi c thm cc thng tin v cc mu hc,
hay ni cch khc, cc trng s c iu chnh sao cho ng.
Trong mng, mt s nron c ni vi mi trng bn ngoi nh cc u ra,
u vo.
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3.6.1 M hnh nron nhn to
Hnh 3.9 M hnh nron nhn to.

Mi nron c ni vi cc nron khc v nhn c cc tn hiu sj t chng
vi cc trng s wj. Tng cc thng tin va c trng s l:
Net=
w s
j
Ngi ta gi y l thnh phn tuyn tnh ca nron. Hm kch hot g (cn gi

l hm chuyn). ng vai tr bin i t Net sang tn hiu u ra out.
Out= g(Net)
y l thnh phn phi tuyn ca nron. C 3 dng hm kch hot thng c
dng trong thc t.
*)Hm dng bc:
1
step x
0
x0
x0
1
step x
0
x
x
x0
x0
1
step x
1
x
x
*)Hm du:
1
step x
1
*)Hm sigmoid:
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Sigmoid ( x)
63
1 e
y ngng ng vai tr lm tng tnh thch nghi v kh nng tnh ton ca

mng nron. S dng k php vct, S s1 ,...., sn vct tn hiu vo, W w1 ,...., wn
vecto trng s, ta c
out g Net
Net SW
Trng hp xt ngng , ta dng biu din vecto mi S s1 ,...., sn , ,

W ' w1 ,...., wn ,1 .
3.6.2 Mng nron

Mng nron l h thng bao gm nhiu phn t x l n gin (nron) hot
ng song song. Tnh nng ca h thng ny ty thuc vo cu trc ca h, cc trng
s lin kt nron v qu trnh tnh ton ti cc nron n l. Mng nron c th hc t
d liu mu v tng qut ha da trn cc da trn cc d liu mu hc. Trong mng
nron, cc nron n nhn tn hiu vo gi l nron vo v cc nron a thng tin ra
gi l nron ra.
a.
Phn loi cc mng nron
Theo kiu lin kt nron: ta c mng nron truyn thng (feel-forward Neural
Network) v mng nron qui hi (recurrent Neural Network). Trong mng nron
truyn thng, cc lin kt nron i theo mt hng nht nh, khng to thnh th
khng c chu trnh vi cc nh l cc nron, cc cung l cc lin kt gia chng.
Ngc li, cc mng qui hi cho php cc lin kt nron to thnh chu trnh. V cc
thng tin ra ca cc nron c truyn li cho cc nron gp phn kch hot chng,
nn mng hi quy cn c kh nng lu gi trng thi trong ca n di dng cc
ngng kch hot ngoi cc trng s lin kt nron.
Theo s lp: cc nron c th t chc li thnh cc lp sao cho mi nron ca
lp ny ca c ni vi cc nron lp tip theo, khng cho php cc lin kt gia
cc nron trong cng mt lp, hoc t nron lp di ln nron lp trn. y cng
khng cho php cc lin kt nhy qua mt lp.
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Hnh 3.10 Mng nron truyn thng v nhiu lp.
Hnh 3.11 Mng nron hi quy.
b.
Chc nng ca mng noron.
Mng noron nh mt cng c tnh ton:

Gi s mng noron Neural network c m nron vo v c n nron ra, khi vi
mi vecto cc tnh hiu vo X=(x1,,xn), sau qu trnh tnh ton ti cc nron n, ta
nhn c kt qu ra Y=(y1,,yn). Theo ngha no mng nron lm vic vi t
cch mt bng tra, m khng cn bit dng ph thuc hm tng minh gia Y v X.
khi ta vit:
Y tinh X , NN
Cn lu cc nron trn cng mt lp c th tnh ton ng thi, do vy phc

tp tnh ton ni chung s ph thuc vo s lp mng.
Cc thng s cu trc mng nron bao gm:
-
S tnh hiu vo, s tn hiu ra
S lp nron
S nron trn mi lp n
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S lng lin kt ca mi nron (lin kt y , lin kt b phn v lin kt

ngu nhin)
Cc trng s lin kt nron.
Mng nron nh mt h thng thch nghi c kh nng hc:

chnh cc trng s lin kt cng nh cu trc ca mnh sao cho ph hp vi
cc mu hc. Ngi ta phn bit ba loi k thut hc:
- Hc c gim st (supervised learning)
- Hc khng gim st ( unsupervised learning)
- Hc tng cng.
Trong hc gim st, mng c cung cp mt tp mu hc {(Xs,Ys)} theo ngha
Xs l cc tn hiu vo, th kt qu ra ng ca h phi l Ys. mi ln hc, vector tn
hiu vo Xs c a vo mng, sau so snh s sai khc gia cc kt qu ra ng Ys
vi kt qu tnh ton outs. Sai s ny s c dng hiu chnh li cc trng s lin
kt trong mng. Qu trnh c tip tc cho n khi tha mn mt tiu chun no . C
hai cch s dng tp mu hc: hoc dng cc mu ln lt, ht mu ny n mu khc,
hoc s dng ng thi tt c cc mu mt lc. Cc mng vi c ch hc khng gim
st c gi l cc mng t t chc. Cc k thut hc trong mng nron c th nhm
vo hiu chnh cc trng s lin kt (gi l hc tham s) hoc iu chnh, sa i cu
trc ca mng bao gm s lp, s nron, kiu v trng s cc lin kt (gi l hc cu
trc).
Hc tham s:
Gi s c k nron trong mng v mi nron c ng mt lin kt vo vi cc
nron khc. Khi , ma trn trng s lin kt W s c kch thc kx1. Cc th tc hc
tham s nhm mc ch tm kim ma trn W sao cho
Ys Tinh X s ,W i vi mi mu hc S X s , Ys (1)
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Hnh 3.12
66
Hc tham s c gim st.
Hc cu trc:
Vi hc tham s ta gi nh rng mng c mt cu trc c nh. vic hc
cu trc ca mng truyn thng gn vi yu cu tm ra s lp ca mng L v s nron
trn mi lp nj. Tuy nhin, vi cc mng hi quy cn phi xc nh thm cc tham s
ngng ca cc nron trong mng. Mt cch tng qut phi xc nh b tham s
P L, n1 ,...., nk ,1 ,...., k y k n j sao cho Ys Tinh X s , P i vi mi mu hc
s X s , Ys (2).
V thc cht, vic iu chnh cc vector tham s W trong (1) hay P trong (2)
u qui v bi ton tm kim ti u trong khng gian tham s. Do vy, c th p dng
cc c ch tm kim kinh im theo gradient.
3.6.3 Mng Kohonen

Cch x l thng tin trong cc mng trn thng ch quan tm ti gi tr v
du ca cc thng tin u vo, m cha quan tm khai thc cc mi lin h c tnh cht
cu trc trong ln cn ca vng d liu mu hay ton th khng gian mu.
Chng hn, vi 2 thnh phn ; 1 tam gic , 1 hnh ch nht,
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ta c th to thnh hnh ngi nh khi chng c phn b k gip vi nhau theo mt

trt t nht nh.
Teuvo Kohonen (1989) xut mt tng rt ng ch v nh x c c
trng topo t t chc ( theo ngha khng cn c mu hc) nhm bo ton trt t sp
xp cc mu trong khng gian biu din nhiu chiu sang mt khng gian mi cc
mng nron ( mt hoc hai chiu). Trong mng Kohonen, cc vector tn hiu vo gn
nhau s c nh x sang cc nron trong mng ln cn nhau.
a.
Cu trc mng
Mng Kohonen rt gn gi vi kiu cu trc mng nron sinh hc v cu to ln

c ch hc. Mng Kohonen thuc vo nhm mng mt lp cc nron c phn b
trong mt phng hai chiu theo kiu li vung hay li lc gic di.
Phn b ny phi tha mn yu cu; Mi nron c cng s nron trong tng lp
lng ging. tng ca Kohonen l cc u vo tng t nhau s kch hot cc nron
gn nhau v khong khng gian. Mi quan h tng t ( theo khong cch) c th tng
qut ha cho mt lp tng i rng cc quan h tng t gia cc tn hiu u vo.
Hnh 3.13 Li cc nron

Mt cch trc quan, c th xem thut gii hun luyn mng Kohonen nhm bin
i khng gian tn hiu vo sang mng nron ging nh cc th tc kiu nh lm
trn hay to hnh d liu.
p ng yu cu cc nron c cng s nron ln cn trong mi lp lng
ging, ngi ta thng dng cc php cun ch s t c hiu ng ci xm xe.
Chng hn ta (xi, yi ) ca cc nron thuc lp lng ring th k ca nron ca ta
(x,y) trong mng nron 2 chiu c kch thc pxq cho trong th tc sau:
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68
i:=-k to k do
for
j:=-k to k do
begin xi:=mod(x+i+p-1,p) + 1;
yi:=mod(y+j+q-1,q) + 1;
if (i=k) or (j=k) then
n ron (xi, yi) thuc vo lp lng ging th k
else
n ron (xi, yi) thuc vo lp lng ging th r
r<k; r c xc nh bi max(xi,yi)
end;
Trng hp lp noron Kohhonen l mt dy, cch cun trn mng nron to

thnh mt ng trn.
Tt c cc nron ca lp kch hot c lin kt y vi lp vo. im quan
trng nht trong mng Kohonen l vi mt vector tn hiu vo, n ch cho php cc
phn hi mang tnh cht a phng ngha l u ra ca mi nron khng c ni vi
tt c cc nron khc m ch vi mt s nron ln cn. S phn hi mang tnh a
phng ca nhng iu chnh (nu c) to ra hiu ng l cc nron gn nhau v v tr
s c hnh vi tng t khi c nhng tn hiu ging nhau c a vo.
b.
Hun luyn mng
Qu trnh hc c s dng trong mng Kohonen da trn k thut cnh tranh,

khng cn c tp mu hc. Khc vi trng hp hc c gim st, cc tin hiu u ra
c th khng bit c mt cch chnh xc.
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Ti mi thi im ch c mt nron duy nht C trong lp kch hot c la

chn sau khi a vo mng cc tn hiu Xs. Nron ny c chn theo mt trong
hai nguyn tc sau:
-
Nguyn tc 1: Nron C c tn hiu ra cc i.

outc max(outj) = max ((xsi wji)
j=1
(9)
i=1
Nguyn tc 2: Vector trong s ca nron C vi tn hiu vo nht

errc min(errj) = min ((xsi - wji)2
(10)
j =1
i=1
Sau khi xc nh c nron C, cc trng s wci c hiu chnh nhm lm cho

u ra ca ln hn hoc gn hn gi tr trng s mong mun. Do vy, nu tn hiu vo
xsi vi trng s sci to kt qu ra qu lp th phi gim trng s v ngc li. Cc
trng s ca cc nron lng ging j cng phi c hiu chnh gim, ty thuc vo
khong cch tnh t C. Ta a vo hm t l a(.) = a(dcj), y dcj l khong cch
topo gia nron trung tm C v nron j ang xt. Trn thc t hm a(.) c th l hng
s, hm t l nghch hoc hm c im un. m bo yu cu, do c nhiu mu
tham gia qu trnh hun luyn ta a vo h s (t).
y :
t l s i tng mu dng luyn mng .
tmax l s mu ti da
amaz, amin tng ng l gi tr cc i, cc tiu ca hm a(.)
Ty thuc vo nron trung tm C c la chn theo nguyn tc 1 hoc nguyn
tc 2 ta c cch hiu chnh cc trng s wij tng ng:
wji = wji + (t) a(dcj )(1 - xi wji )
(1)
hoc
wji = wji + (t) a(dcj) (xi - wji )
Sau , chun ho cc trng s sao cho:
(2)
n
wji
i 1
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Theo kinh nghim, cn phi to ra phn b ngu nhin cc trng s trong

khong -0.1 n 0.1 hoc -1/m n 1/m, y m l s trng s ca mng v chun ho
d liu vo, ra bng -1 hoc 1.
Tuy nhin cng phi ch mt iu l vic la chn tiu chun chun ho, nh
c d liu ph thuc rt nhiu vo bn cht bi ton.
c.
S dng mng
Gi s hun luyn mng nhn c ma trn trng s W. Khi a vo

mng mt vector X, ton b m trn W li c cp nht theo cc cng thc (1) hoc
(2) ty thuc vo s dng nguyn tc 1 hay nguyn tc 2.
Nh vy, mng Kohonen cho chng ta bit c s phn b v quan h tng
i v mt a l gia cc mu trong khng gian biu din.
d.
Th nghim mng
nh x t khng gian 3 chiu sang khng gian 2 chiu.

Bi ton t ra l to nh x t mt mt cu n v 3 chiu vi 2000 im phn
b ngu nhin trong 8 mi cu sang mt phng cc n ron c phn b thnh li
kch thc 15 x 15.
Mng Kohonen c thit k c 3 u vo, tng ng vi 3 ta v 255
nron, phn b thnh li vung 15 x 15. Mi nron vo c ni y vi cc
nron ra, do vy tng cng c 675 trng s. Ban u nron trung tam c 7 lp lng
ging m bo rng tt c cc vng lng ging k gip nhau. Gi s, hiu chnh cc
i ti nron trung tm a(0) = 0.3 v ti lp th 7 gi tr ny ch l 0,5% gi tr ti
nron trung tm, do vy bng 0,3 x 0,005 = 0,0015. Gi tr c th xem l rt nh, do
n(t) = hng s. Trong qu trnh luyn mng, c 400 im mu c a vo luyn
mng s c mt lp lng ging vng ngoi b co li. Cc nron lng ging cng xa s
cng t b hiu chnh hn. Trong th nghim ny ta s dng nguyn tc 2 v cng thc
(2), cc gi tr trng s ban u c ly ngu nhin trong khong [-0,1 0,1]. Kt qu
hun luyn mng vi 2000 mu c cho trong hnh 3.13
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D dng thy rng tt c cc quan h topo gia cc vng trn mt cu c bo

ton sau khi nh s (hnh 3.13)
Hnh 3.14 nh x mt cu vo li nron 15x15

im th v l trn mng c nhng vng trng, nhm tch ri im hi t ca
cc vng 1,2,3,4 cc bc khi cc vng 5,6,7,8 bn cu nam.
Mt s lu v mng Kohonen
- Mng khng ch quan tm n ni dung tn hin vo m cn xem xt cu trc
topo ca mu.
- Mng c th bin i t khng gian nhiu chiu sang khng gian t chiu hn.
- C ch hc khng c gim st
- Cc quan h topo c bo ton khi nh x.
3.6.4 Mng nron nhiu lp ln truyn ngc sai s

a.
Kin trc mng.
Cc nron lp th t c ni y vi cc lp th t+1. Trong nhiu ng dng
thc th, n gin, ngi ta thng s dng mng c mt lp n, s nron trong lp
n c xc nh da trn kinh nghim, hoc da trn cc k thut tm kim khc.
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Hnh 3.15 Mng nron 2 lp.
b.
Hun luyn mng.
Qu trnh hun luyn mng c trnh by y l qu trnh hc c gim st

vi tp mu {( Xs, Ys)}. Qu trnh hc c th tm tt nh di:
Mi khi mu Xs=(x1,..,xn) vo mng, ta thc hin cc cng vic sau:
- Lan truyn mu Xs qua mng c outs = Tinh(Xs, NN).
- Tnh sai s Errs ca mng da trn sai lch outs-Ys.
- Hiu chnh cc trng s lin kt nron dn ti lp ra Wij t nron j ti lp n
cui cng ti nron i ti lp ra: wij = wij + * aj * i (1)
Vi :
l h s hc
aj l u ra ca nron j.
i l sai s m nron I lp ra phi chu trch nhim, c xc nh theo cng
thc: i = Erri g (Neti) (2)
Vi Erri l sai s thnh phn th I trong Err, Neti l tng thng tin vo c trng s
ca nron th i (Neti = wij.aj) v g(.) l o hm ca hm kch hot g c dng
trong cc nron.
Hiu chnh cc trng s lin kt nron Wik dn ti tt c lp n t nron th k sang
nron j ( cc lp n c xt t di ln):
Tnh tng sai s ti nron j phi chu trch nhim.
j=g(Netj wi) (3)
Hiu chnh trng s wjk = wjk + *ak*j
(4)
( trng hp xt lin kt t nron vo th k sang nron j trn lp n th nht, ta c
ak = ik ) chnh l tn hiu vo).
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Ch :
- Trng hp xt hm kch hot ti cc nron
g ( x)
1
x
1 e
Ta c h thc g(x)= g(x)(1-g(x))

- T cng thc (1) v (4) ta c th vit li
Wij= wij + wij vi wij= *aji v
Wjk = wjk+ wjk vi wjk = *akj
Trong thc t, thng hiu chnh wij theo nguyn tc c ch n thao tc
trc . Do vy:
wijmoi a j i wijcu , y l h s qun tnh.
Qu trnh hun luyn mng cn ch ti cc yu t sau:
- Cc trng s ban u wij c gn cc gi tr ngu nhin, nh.
- La chn cc h s hc v h s qun tnh sao cho + 1, vi khng
ln hn qu nhiu.
Cc tn hiu vo, ra nn c nh c ch nm trong khong [0,1]. Cc nghin cu
thc nghim ch ra rng nn trong khong [0.2,0.8].
c.
S dng mng
Gii s hun luyn mng nh hnh trn vi tp mu {(Xs,Ys)} c ma trn

trng s W. Qu trnh lan truyn trong mng mt vecto tn hiu vo X=(x1,x2,x3) c
cho bi:
out g w64a4 w65a5 g w64 g w41x1 w42 x2 w43 x3 w65 g w51x1 w52 x2 w53 x3 =F(X,W)
Kh nng tnh ton ca mng nhiu lp.

- Vi mt lp n, mng c th tnh ton xp x mt hm lin tc bt k i vi
cc bin tng ng l cc tn hiu vo.
- Vi 2 lp n, mng c th tnh ton xp x mt hm bt k. Tuy vy, s nron
trong cc lp n c th tng theo hm m i vi s u vo v cho n nay vn cha
c cc hm c th xp x nh cc mng nhiu lp.
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CHNG 4. Kt qu v hng pht trin ca bi ton nhn

dng bin s xe.
4.1 - Kt qu hng gii quyt phn ngng v tm i tng.

Vi mc ch tm hiu bi ton nhn dng bin s xe v do thi gian c hn nn em
cha th hon thnh c phn mm ca mnh. Em ch dng li vic xy dng
hng gii quyt v xy dng chng trnh kim tra bc pht hin vng bin s xe v
tch k t trong bin s xe.
Trong giai on lc nh em s dng cc b lc lm gim nhiu ca nh.
Trong kt qu th nghim em s dng b lc song phng lc nhiu v lc song
phng l lc bo ton ng bin nh trong mc (2.2.4 trang 23).
Nhn thy, vng bin nh d nhn bit l vng c mc xm cao. V vy trong
chng trnh kim nghim ca mnh em tin hnh qut nh xm vi khong xm [100,
220], y l khong xm s c s dng x l nh phn nh ( mc 2.1 trang 17)
nn em s s dng gi l khong ngng [100,220].
Do trong giai on 3 ( 3.4.3 trang 59) ni chng ta s dng hm findcontourns
(mc 2.5.3 trang 44) do th vin cung cp sn ca OpenCV ch s dng nh u vo l
nh Canny hoc nh nh phn v vy ta b gii hn vic s dng cc phng php pht
hin bin hoc vng l phng php d bin Canny ( mc 2.3.5 trang 34) v phng
php nh phn ( mc 2.1 trang 17).
Kt qu th nghim:
Mu 1: gm 72 nh tng hp gm nhng xe bin nn xanh, bin nn , bin nn
trng, bin b m, bin xe ang chy. Trong gm:
-
Bin nn trng ch en 57 bin.
Bin nn xanh ch trng 10 bin.
Bin nn c 5 bin.
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Mu 2: gm 72 nh ch cha bin s xe. Do nn bin s xe v ch c tng

phn cao nn chng ta khng cn phn bit mu bin s.
4.1.1 Kt qu dng vi phng php tm bin Canny kt hp vi tm vng

i tng.
a.
Tm vng bin s.
Kt qu: Bng 1.
Bng 1. Chi tit tm vng bin s s dng d bin Canny v tm vng i tng.
Loi bin
S bin mu
S bin b li
T l tm c
Bin s nn trng
ch en
57
13
77.2%
Bin s nn xanh
ch trng
10
70%
Bin s nn ch
trng
20%
Tng:
72
20
72,22%
Nhn xt:
Kt qu nhn dng vi t l thp.
b.
Tm vng k t.
Kt qu: trong 72 mu bin s th c 22 bin khng th phn tch k t c. t t

l kh thp 69,44%.
4.1.2 Kt qu dng vi phng php phn ngng kt hp tm vng i

tng
a.
Tm vng bin s.
Kt qu:
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Bng 2: Chi tit tm vng bin s s dng hng phn ngng v tm vng i tng.
Loi bin
S bin mu
S bin b li
T l tm c
Bin s nn trng
ch en
57
98,3%
Bin s nn xanh
ch trng
10
90%
Bin s nn ch
trng
20%
Tng:
72
91,6%
Nhn xt:
Kt qu nhn dng trong vng ngng ny kh tt cha nhn dng tt bin
Tuy nhin ngng l kh rng lm chm qu trnh tnh ton. Nn cn tm cc
ngng ph hp hn. Trong mc (2 .3)
b.
Tch ly k t.
Trong 72 bin c 11 bin khng cch ly c ton b k t. T l thnh cng t

84.7%.
4.1.3 Kt lun.
T kt qu trong mc 4.1.1 v mc 4.1.2 ta thy t l thnh cng theo hng
tip cn phn ngng v tm vng i tng cao hn hng tip cn d bin v
tm vng i tng.
Sau em tin hnh tm ngng qut hp l hn.
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Hnh 4.1 Bin khng nhn dng c
b.
Tm vng bin s vi khong ngng rng 10 ngng. (tng dn)
Trong phn ny chng ta s tm xem bao nhiu bin c pht hin nhng vng
ngng khc nhau. V ch xt nhng vng mi c pht hin. bng 3
Nhm pht hin nhng vng ngng no khng pht hin ngng bin mi
loi b.
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Bng 3: Tm vng bin s trong cc khong ngng khc nhau tng dn.(bin c
tm thy khong ngng trc s khng phi l i tng xt cc khong ngng
sau).
Khong ngng
Bin nn trng ch
en (bin)
Bin nn xanh ch
trng (bin)
Bin nn ch
trng (bin)
100-110
30
110-120
120-130
130-140
140-150
150-160
160-170
170-180
180-190
190-200
200-210
210-220
Nhn xt:
Nh vy vi cc khong khng pht hin bin mi ta s loi b tip tc tm
nhng vng qut hp l nht.
Tm vng bin s trong cc vng ngng rng 10 gim dn loi
b phn theo nhn xt mc a.
c.
mc ny vi mc ch ta tm vng ngng m vng pht hin bin khng

cn thit v vng bin s c th tm thy vng ngng khc. Bng 4
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Bng 4: Tm vng bin s trong cc ngng khc nhau gim dn. (bin c tm thy
khong ngng trc s khng phi l i tng xt cc khong ngng sau).
Khong ngng
Bin nn trng ch
en (bin)
Bin nn xanh ch
trng (bin)
Bin nn ch
trng (bin)
210-200
28
200-190
190-180
180-170
170-160
150-140
130-120
120-110
110-100
Nhn xt:
Khng c phn loi b.
Nhn xt:
T mc (2) v (3) ta thy cc khong ngng cn qut l:
100-130 v 140-150 v 160-210
th t l tm vng bin thnh cng s khng gim v cng c th thy cha tm c
vng ngng hp l nhn dng bin nn
Nguyn nhn gy li:
T nhng nh khng th tm thy vng bin s nh hnh 4.1 ta c th a ra nhng
nguyn nhn sau:
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Vng bin s c tng phn thp vi nn nh. Trong hnh 4.2 chng
ta thy vng bin s sau khi c phn ngng (hnh bn tri) cha lm ni bt vng
bin s khin qu trnh tm vng bin s ( hnh bn phi ) khng th nhn thy vng
bin s.
Hnh 4.2 Vng bin s trong qu trnh phn ngng.

Vng bin s c ngng thp hn 100 ( mc t ra ca chng trnh).
Khi vng bin c mc ngng ( mc xm ) thp hn ngng ca chng trnh t ra
th s b qu trnh phn ngng loi b nh hnh 4.3 lm qu trnh tm vng bin s
khng th pht hin ra.
Hnh 4.3 Mc xm thp lm vng bin s b mt trong qu trnh phn ngng
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81
Tm ngng cho giai on cch ly k t.
Bng 5. Chi tit cc khong ngng pht hin nhng bin s.( cc bin tch ly thnh
cng khong ngng trc khng c tnh cho khong ngng sau).
Ngng
Cach ly bin thnh

cng.
Ngng
Cch ly bin thnh

cng.
100-110
32
160-170
110-120
170-180
120-130
180-190
130-140
190-200
140-150
200-210
150-160
Nhn xt:
Khong ngng cn qut l:
100-170 v 200-210.
L do li.
B che mt mt phn nh. Hnh 4.4 (a) lm mt i mt phn k t hoc
k t dch lin vi ng vin ca bin lm qu trnh tm i tng nhm ch s v
vin ca bin l mt i tng.
K t khng r Hnh 4.4 (b) bng sng v k t b m tng phn cng
lm cho qu trnh tm i tng s pht hin ra nhiu i tng m khng pht hin ra
vng cc ch s.
- Ch b bng do knh lp hoc b n chiu la Hnh 4.4 (c)
nh c nhiu nhiu khng r hnh 4.4 (d). nhiu nhiu s lm cc k t
gn nhau s c tnh gn nh l mt i tng.
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Hnh 4.4 Nhng bin s khng nhn k t
4.2 - Hng pht trin ca bi ton nhn dng bin s xe.

4.2.1 Nhn xt.
T nhng kt qu thu c (phn 4.1) em thy gii quyt bi ton nhn dng
bin s xe theo hng phn ngng tm i tng c nhng u im sau:
u im: Thut ton ci t nhanh, tm vng bin s v cch ly k t vi t l
thnh cng cao ( nhng bin s thng thng), tm c nhng nh t nhin, vng
bin s b nghing.
Nhc im: Nhn dng km vi nhng bin s c s tng phn vi nh nn
thp nh bin nn , nn b m, nhng bin s c ng vin mnh, bin s c lp
nhng thit b trang tr, bin b bng la do nh sng, v nhng bin c phn ch s
khng r rng.
V vy, bi ton pht huy hiu qu tt nht th thit b quan st cn t v tr
ph hp. thu c nhng nh khng c bng sng v hin th ton b bin s xe.
Phng php ny x l c nh bt k v vy c th c dng vo vic quan st
qun l giao thng.
4.2.2 Hng pht trin ca bi ton.

-
Nng cao hiu qu chng trnh, tch ly cc k t trong bin s trong cc trng
hp bin s b nhiu nhiu, mt mt thng tin do nhiu t iu kin mi trng, tm

vng bin s trong nh c tng phn gia bin s v nn thp. c bit l bin xe
c nn mu ch trng.
-
Pht trin chng trnh thnh module phn cng. C kh nng tng thch vi
cc thit b quan st nh camera.
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Kt hp chng trnh vi nhng chng trnh nhn dng khc h tr tt hn
cho vic qun l phng tin giao thng. V d: kt hp vi chng trnh nhn dng
ch vit a bin s v dng k t trn my tnh gip cng vic qun l bn bi
-
Nghin cu theo hng mt ng dng c th nh : gim st phng tin giao
thng, x l vi phm giao thng, qun l xe ti cc bi gi xe, cc kho vt t.
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KT LUN.
S pht trin ca cng ngh thng tin c nhng tc ng tch cc n nhiu
mt ca i sng x hi trong phi k ti lnh vc gim st t ng. Trong gim st
t ng, vic gim st i vi cc phng tin giao thng l mt vn ni tri. Nhiu
chnh ph, thnh ph trn th gi xy dng h thng gim st t ng i vi cc
phng tin giao thng ca mnh. V h thng gim st u ly bin s xe l mc tiu
gim st.
nc ta, cc h thng gim st t ng ni cung v h thng nhn dng bin
s xe ni ring cng ang c ch trng tuy nhin n vn cn l lnh vc cn nhiu
cng sc u t ci thin phng php cng nh t l tm bin thnh cng.
a phn cc cng tc qun l, x l i vi cc phng tin giao thng u cn nhn
lc con ngi. Bo co nhm mc ch tm hiu bi ton nhn dng Bin s xe vi
mc ch qun l, gim st cc phng tin giao thng.
Vi mc ch pht hin vng bin s do thi gian c hn nn em cha ci t
nhn dng k t quang hc trong ng dng ca mnh. Em chc rng trong tng lai
khng xa, th h thng nhn dng bin s xe ni ring v nhn dng ni chung s c
s dng rng ri vi chnh xc cao phc v cho nhiu lnh vc cuc sng gim
st, qun l cng vic thay cho con ngi.
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TI LIU THAM KHO

Ting vit.
[1] Nhn mn x l nh s. Ths. Lng Mnh B, Pts. Nguyn Thanh Thy.
NXB KHKT 2003.
[2] n tt nghip ca ch Phm Th Thanh Thy trng i hc Dn Lp Hi
Phng nm 2009
Ting anh.
[3] learing OpenCV_ computer vission whit the OpenCV Library_ Gary Breadki &
Kaebler
[4]http://docs.opencv.org
[5]http://code.gurusvn.com
[6] http://vi.wikipedia.org
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86
Ph lc.
Hng dn ci t v cu hnh OpenCV.
OpenCV (Open Source Computer Vision) l mt th vin chc nng lp trnh
cho ngnh th gic my tnh. OpenCV c pht hnh theo BSD license v n l min
ph cho c hai hc thut v thng mi. OpenCV c dng vi cc ngn ng C++, C,
Python v Java(Android) v h tr cc h iu hnh Windows, Liniux, Android v
Mac OS. Trong th vin OpenCV c hn 2500 cc thut ton ti u.
Vic cu hnh OpenCV vi Microsoft Visual Studio 2010 tng i kh khn
cho ngi mi s dng.
Sau y em xin hng dn ci t v cu hnh OpenCV phin bn 2.4 vi
Microsoft Visual Studio 2010 bn 32 bit.
Hng dn ci t OpenCV
1. Ti v v ci t.
Ti v OpenCV 2.4 ti trang ch http://opencv.org
Ci t thc cht l gii nn. Bn nn gii nn thu mc n gin v d : trong
hng dn ny ti gii nn thnh D:\opencv
2. Ti v v ci t Cmake
Ti v Cmake ti trang ch http://www.cmake.org v tin hnh ci t bnh
thng.
3. Chy cmake_gui. Trong mc where is the source code chn th mc
(D:\opencv). Trong mc where to build the binarines chn D:\opencv\builds ( t
to th mc ny). Click Configure v chn nh hnh sau:
I.
Mt bn ty chn hin ra bn click Generate

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4. M OpeCV.sln ln bng Visual Studio 2010 tin hnh thit lp.

Chn Debug trong Solution configuration. V tin hnh bin dch.
Tng t cho thit lp Release
5. Thm vo ng dn vo environment variavles:
D:\opencv\builds\bin\Release
D:\opencv\builds\bin\Debug
Control Panel System Advanced System Settings Environment
variables v thm 2 thc mc vo bin "path".
II.
Hng dn cu hnh OpCV vi Microsoft Visual Studio 2010.
1. To mt d n win 32 console applicationg bng Microsoft Visual Studio
2010.
2. Trong Solution Explprer, chn chut phi vo project chn properties.
a. Chn VC++ Directories.
- Trong mc Include Diretories thm hai th mc:
D:\opencv\build\include
D:\opencv\build\include\opencv
- Trong mc Library Directories, thm hai mc sau:
D:\opencv\builds\lib\Debug
D:\opencv\builds\lib\Release
b.
Chn Linkerinput.
Trong Additional Dependencies bn chp ton b danh sch file .lib trong
th mc
D:\opencv\builds\lib\Debug
D:\opencv\builds\lib\Release
Cch tin hnh cu hnh trn c em hng dn bng video.
http://www.youtube.com/watch?v=wc2PQGznhhc&feature=g-upl
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Mt s hm quan trng.
1. Bin i nh xm v lc nh song phng:
Code:
void gray_filter()
{
Mat src_gray;
cvtColor(src,src_gray,CV_BGR2GRAY);
bilateralFilter(src_gray,src_gray_filter,10,20,5);
}
2. Hm phn ngng hoc tm bin canny.

Code:
void threshold_canny()
{
Canny(src_gray_filter,dst_canny,120,360,3);
threshold(src_gray_filter,dst_threshold,100,200,THRESH_BINARY);
}
3. Tm vng bin s.
Code :
void vungBienSo()
{
vector<int> int_vung;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
/// Find contours
findContours( dst_threshold, contours, hierarchy, CV_RETR_TREE,
CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
vector<vector<Point> > contours_poly( contours.size() );
vector<Rect> boundRect;
for( size_t i = 0; i < contours.size(); i++ )
{
approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true );
boundRect.push_back(boundingRect( Mat(contours_poly[i]) ));
}
for ( size_t i = 0; i < boundRect.size(); i++)
{
double x = boundRect[i].width*1.0;
double y = boundRect[i].height*1.0;
double a = x/y;
if( a>=3.5 && a<=4.5)
int_vung.push_back(i);
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else if(a>=0.8 && a<=1.4)

int_vung.push_back(i);
}
// -------------------------------lay vung bien------------------------------------IplImage* src1 = new IplImage(src);
IplImage* cropped_img = cvCreateImage( cvGetSize(src1),src1->depth,src1>nChannels);
for( size_t i = 0; i < int_vung.size();i++)
{
int area = boundRect[int_vung[i]].width*boundRect[int_vung[i]].height;
if (area >= 1500 && area <= 30000){
cvSetImageROI(src1,cvRect(boundRect[int_vung[i]].x,boundRect[int_vung[i]].y,bou
ndRect[int_vung[i]].width,boundRect[int_vung[i]].height));
IplImage *tam = cvCreateImage(cvGetSize(src1),src1->depth,src1>nChannels);
cvCopy(src1,tam,NULL);
vung_bien.push_back(tam);
cvResetImageROI(src1);
drawImageInside(tam, cropped_img ,i+1 ,0);
}
}
Mat drawing = Mat::zeros( dst_threshold.size(), CV_8UC3 );
for( size_t i = 0; i< int_vung.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255),
rng.uniform(0,255) );
drawContours( drawing, contours_poly, (int)i, color, 1, 8, vector<Vec4i>(), 0,
Point() );
rectangle( drawing, boundRect[int_vung[i]].tl(), boundRect[int_vung[i]].br(),
color, 2, 8, 0 );
}
}
4. Cch ly vng k t.
Code:
void crop_so()
{
for(size_t i = 0; i< vung_bien.size(); i++)
{
IplImage* src1 = new IplImage(vung_bien[i]);
IplImage* a = new IplImage(src);
Mat src_gray;
cvtColor(vung_bien[i],src_gray,CV_BGR2GRAY);
bilateralFilter(src_gray,src_gray_filter,10,20,5);
threshold(src_gray_filter,dst_threshold,153,200,THRESH_BINARY);
IplImage* cropped_img = cvCreateImage( cvGetSize(a),a->depth,a>nChannels);
vector<int> int_vung;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours( dst_threshold, contours, hierarchy, CV_RETR_TREE,
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CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
vector<vector<Point> > contours_poly( contours.size() );
vector<Rect> boundRect;
for( size_t i = 0; i < contours.size(); i++ )
{
approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true
);
boundRect.push_back(boundingRect( Mat(contours_poly[i])
));
}
for (size_t i =0 ; i< boundRect.size();i++)
{
if(boundRect[i].area() >=100 && boundRect[i].area() <1000
)
{
cvSetImageROI(src1,cvRect(boundRect[i].x,boundRect[i].y,boundRect[i].width,boun
dRect[i].height));
IplImage *tam =
cvCreateImage(cvGetSize(src1),src1->depth,src1->nChannels);
cvCopy(src1,tam,NULL);
ky_tu.push_back(tam);
cvNamedWindow("aaa");
cvShowImage("aaa",tam);
cvWaitKey(0);
cvResetImageROI(src1);
drawImageInside(tam, cropped_img ,i*15 ,0);
}
}
cvShowImage("cac ky tu",cropped_img );
cvWaitKey(0);
if(ky_tu.size() >=6 && ky_tu.size() <=9)
i=vung_bien.size();
else
ky_tu.empty();
}
5. Hm drawImageIndide
Code:
void drawImageInside(IplImage* source, IplImage* target, int x, int y) {
for (int ix=0; ix<source->width; ix++) {
for (int iy=0; iy<source->height; iy++) {
int r = cvGet2D(source, iy, ix).val[2];
int g = cvGet2D(source, iy, ix).val[1];
int b = cvGet2D(source, iy, ix).val[0];
CvScalar bgr = cvScalar(b, g, r);
cvSet2D(target, iy+y, ix+x, bgr);
}
}
}

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Lun vn

ti: Bi ton nhn dng

Khoa Cng Ngh Thng Tin

Tnh cht ...................................................................................................... 8

Khng gian biu din i tng ................................................................ 10

Khng gian din dch. ................................................................................ 10

1.3 - M hnh v bn cht ca qu trnh nhn dng.................................................... 11

Bn cht ca qu trnh nhn dng. ............................................................. 12

CHNG 2. X l nh v openCV ...................................................................... 15

B lc hp thng thng (Normalized Box filter). ................................... 19

B lc gaussian (Gaussian Filter). ............................................................. 20

B lc Median (Median Filter): ................................................................. 21

B lc song phng (Bilateral filter). ........................................................ 22

2.3 - Bin v cc phng php tm bin. .................................................................... 24

Khi nim v bin: ..................................................................................... 24

Phng php Gradient. .............................................................................. 24

Ton t la bn. ........................................................................................... 29

Tch sn nh theo Canny. ....................................................................... 33

SV: Phm Th Ti Lp S11-50TH

GVHD: Th.S V Anh Dng

Khoa Cng Ngh Thng Tin

2.4 - Bin i Hough .................................................................................................. 35

Ti mt nh v hin th nh. ...................................................................... 41

Chuyn nh mu sang nh xm. ................................................................ 42

Tm i tng bng findContours ............................................................ 43

CHNG 3. Bi ton nhn dng bin s xe. ....................................................... 45

Khi nim. .................................................................................................. 45

Phn loi bin s xe. .................................................................................. 48

Hng tip cn pht trin vng. ................................................................ 52

Hng tip cn d bin v bin i Hough. .............................................. 53

Phn ngng v tm vng i tng (hng tip cn ca n). ............ 54

3.3 - Hng gii quyt. ............................................................................................... 54

Giai on 1: Bin i nh xm v lc nh ................................................. 57

Giai on 3: Tm ng bao i ng. ................................................... 58

Giai on 4: Tch vng bin s. ................................................................ 59

3.5 - Tch ring tng k t ......................................................................................... 60

Giai on 1: Tin hnh phn ngng. ....................................................... 61

Giai on 2: Tm vng i tng. ............................................................. 61

Giai on 3: Tm v tch vng k t. ........................................................ 61

3.6 - Nhn dng k t quang hc ( mng nron) ........................................................ 61

M hnh nron nhn to............................................................................. 62

Mng nron ................................................................................................ 63

SV: Phm Th Ti Lp S11-50TH

GVHD: Th.S V Anh Dng

Khoa Cng Ngh Thng Tin

Mng Kohonen ........................................................................................... 66

Mng nron nhiu lp ln truyn ngc sai s ......................................... 71

Kt qu dng vi phng php phn ngng kt hp tm vng i tng

Nhn xt. .................................................................................................... 82

Hng pht trin ca bi ton. ................................................................... 82

SV: Phm Th Ti Lp S11-50TH

GVHD: Th.S V Anh Dng

Khoa Cng Ngh Thng Tin

GVHD: Th.S V Anh Dng

Khoa Cng Ngh Thng Tin

Hnh 3.3 Mt s loi bin s xe thng dng ......................................................... 54

SV: Phm Th Ti Lp S11-50TH

GVHD: Th.S V Anh Dng

Khoa Cng Ngh Thng Tin

Chi tit tm vng bin s s dng d bin Canny v tm

Chi tit tm vng bin s s dng hng phn ngng v

Tm vng bin s trong cc khong ngng khc nhau

tng dn.(bin c tm thy khong ngng trc s

khng phi l i tng xt cc khong ngng sau).