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I HC QUC GIA TP.

H CH MINH

TRNG I HC CNG NGH THNG TIN


KHOA CNG NGH PHN MM

KHA LUN TT NGHIP

XY DNG NG DNG NHN DNG BIN


BO GIAO THNG TRN THIT B DI NG

Gio vin hng dn: ThS. PHAN NGUYT MINH


Sinh vin thc hin: NGUYN B CHUNG - 07520031
TRNG GIANG 07520094
Lp:
CNPM02
Kha:
02

TP. H Ch Minh, thng 2 nm 2012

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SVTH: Nguyn B Chung


Trng Giang

M U
Ngy nay vi cc tin b ca khoa hc k thut th mi cng vic hu nh u
c th tin hnh trn my tnh mt cch t ng ha hon ton hoc mt phn. Mt
trong nhng s thay i ln l cch thc chng ta thu nhn v x l d liu. Cc
cng c nhp liu nh bn phm hay my scan dn b thay th bng cc thit b tin li
hn nh mn hnh cm ng, camera
Hn th na, cc my tnh bn khng cn l cng c duy nht c th h tr
cho con ngi. Chng ta bc sang th k 21 vi s pht trin mnh m ca cc thit
b di ng, gii tr cm tay hay smartphone. Vi kch thc ngy cng nh gn v
hiu sut lm vic th khng ngng c ci tin, cc cng c mini ny ha hn s l
mt phn khng th thiu trong x hi hin i. V do , pht trin cc ng dng trn
cc thit b ny cng l mt xu th tt yu.
Cng ngh nhn dng l mt trong cc cng ngh ang c p dng cho cc
thit b di ng hin nay. Nhn dng c th bao gm nhn dng m thanh, hnh nh.
Cc i tng nhn dng c nhiu kiu nh ting ni, ch vit, khun mt, m vch
v bin bo giao thng cng l mt trong s . Chng trnh nhn dng bin bo
giao thng thng phc tp v c ci t trn nhng h thng c b x l ln,
camera cht lng cao. Mc tiu ca kha lun l ci tin cng ngh nhn dng ny v
mang n ci t trn cc thit b di ng, gip chng ta pht hin bin bo v nhn
dng n mt cch nhanh nht.
Kha lun Xy dng ng dng nhn dng bin bo giao thng trn thit
b di ng bao gm tt c 4 chng.
Chng I - Gii thiu: Gii thiu khi qut v kha lun v mc ch ca
kha lun.
Chng II - Nn tng v cng ngh: Gii thiu y v cc kin thc nn
tng cng nh cng ngh v phn mm c s dng trong kha lun bao gm kin
thc v x l nh, l thuyt mng noron, mi trng h iu hnh dnh cho di ng
Android, th vin x l nh OpenCV.

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Trng Giang

Chng III - Xy dng ng dng nhn dng bin bo giao thng: Trnh
by m hnh gii quyt bi ton nhn dng trn thit b di ng, cc s chc nng
v thit k giao din ca chng trnh.
Chng IV - nh gi kt qu v kt lun: Tng kt qu trnh thc hin
kha lun v rt ra hng pht trin sau ny.

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Trng Giang

LI CM N
Trong sut thi gian thc hin kha lun tt nghip, chng em nhn c s
gip , ch bo tn tnh ca cc thy c Trng H CNTT HQGTPHCM.
Chngem xin gi li cm n su sc n qu thy c. c bit xin chn thnh cm n
c Phan Nguyt Minh ngi trc tip hng dn v to mi iu kin thun li
gip chng em hon thnh kha lun ny.
Chng em cng xin cm n chn thnh ti gia nh v bn b, cng ty to
iu kin, gip v ng vin chng em hon thnh kha lun ng thi hn.
Mc d c gng ht kh nng nhng kha lun khng th no trnh khi
nhng thiu xt. Rt mong nhn c s gp qu bu ca qu thy c kha lun
c th hon chnh hn.
Nhm sinh vin thc hin
Nguyn B Chung Trng Giang
Thng 2 2012

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Trng Giang

NHN XT
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Trng Giang

NHN XT
(Ca ging vin phn bin)
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Trng Giang

MC LC
M U .................................................................................................................. 2
LI CM N ........................................................................................................... 4
NHN XT .............................................................................................................. 5
NHN XT .............................................................................................................. 6
MC LC ................................................................................................................ 7
DANH MC BNG BIU ...................................................................................... 9
DANH MC HNH V .......................................................................................... 10
CHNG 1 : GII THIU ................................................................................... 1
1.1
1.2

Gii Thiu Ti .......................................................................................... 1


Mc Tiu Ca Ti .................................................................................... 3

CHNG 2 : NN TNG V CNG NGH ...................................................... 4


L Thuyt X L nh................................................................................... 4
2.1.1 Tng quan v x l nh....................................................................... 4
2.1.2 Mt s phng php biu din nh ..................................................... 6
2.1.3 Phng php pht hin bin nh ......................................................... 8
2.1.4 Phn vng nh ................................................................................... 12
2.1.5 Nhn dng nh .................................................................................. 17
2.2 L Thuyt Mng Nron .............................................................................. 18
2.2.1 Tng quan v mng nron ................................................................ 18
2.2.2 Cc thnh phn c bn ca mng nron nhn to ............................ 18
2.2.3 Mng truyn thng v thut ton lan truyn ngc .......................... 26
2.3 Nn Tng Android ....................................................................................... 31
2.3.1 S pht trin ca Android ................................................................. 31
2.3.2 Nhng c im khc bit ca Android............................................ 33
2.3.3 My o Dalvik ................................................................................... 34
2.3.4 Kin trc ca Android ....................................................................... 34
2.3.5 Cc thnh phn trong mt d n ng dng Android ........................ 37
2.4 Th Vin X L nh OpenCv ................................................................... 40
2.4.1 Vi nt v Computer Vision ............................................................. 40
2.4.2 Mt s th vin x l nh tiu biu .................................................. 41
2.4.3 Th vin OpenCV ............................................................................. 43
2.1

CHNG 3 : NG DNG NHN DNG BIN BO GIAO THNG ........... 47


3.1

M T Bi Ton ........................................................................................... 47

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Trng Giang

3.1.1 t vn ......................................................................................... 47
3.1.2 i tng ca bi ton ...................................................................... 48
3.2 M Hnh Gii Quyt Bi Ton ................................................................... 52
3.2.1 M hnh tng qut ............................................................................. 52
3.2.2 Thu nhn hnh nh (Capture Image) ................................................. 53
3.2.3 Pht hin bin bo v trch xut vng c trng ............................... 54
3.2.4 X l trc khi nhn dng (Pre-recognized) .................................... 62
3.2.5 Qu trnh nhn dng (Recognized) ................................................... 63
3.3 Thit K Chng Trnh .............................................................................. 66
3.3.1 Yu cu phn mm ............................................................................ 66
3.3.2 Thit k Use-Case ............................................................................. 69
3.3.3 Thit k s lp (mc phn tch) ................................................... 74
3.3.4 Thit k d liu ................................................................................. 81
3.3.5 Thit k giao din .............................................................................. 82
3.4 Thc Nghim ............................................................................................... 87
CHNG 4 : NH GI KT QU V KT LUN ...................................... 88
nh Gi Lun Vn .................................................................................... 88
nh Gi Chng Trnh ............................................................................ 88
4.2.1 Kt qu t c ............................................................................... 88
4.2.2 Cc hn ch ....................................................................................... 88
4.3 Hng Pht Trin ....................................................................................... 89
4.4 Kt Lun....................................................................................................... 89
4.1
4.2

TI LIU THAM KHO....................................................................................... 90

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Trng Giang

DANH MC BNG BIU


Bng 3.1 Danh sch yu cu chc nng ......................................................... 66
Bng 3.2 Danh sch yu cu hiu qu ............................................................ 67
Bng 3.3 Danh sch yu cu tin dng .......................................................... 68
Bng 3.4 Danh sch yu cu tin ha ............................................................. 68
Bng 3.5 Danh sch cc Actor ....................................................................... 69
Bng 3.6 Danh sch cc Use-Case ................................................................. 70
Bng 3.7 Danh sch cc lp i tng quan h ............................................. 75
Bng 3.8 Danh sch thuc tnh lp Input ....................................................... 75
Bng 3.9 Danh sch thuc tnh lp Hidden .................................................... 76
Bng 3.10 Danh sch thuc tnh lp Output .................................................. 76
Bng 3.11 Danh sch phng thc lp IbackPropagation<T> ...................... 77
Bng 3.12 Danh sch thuc tnh lp MLP<T> .............................................. 78
Bng 3.13 Danh sch phng thc lp MLP<T> .......................................... 78
Bng 3.14 Danh sch thuc tnh lp CaptureObjectLayer ............................. 78
Bng 3.15 Danh sch phng thc lp CaptureObjectLayer ........................ 79
Bng 3.16 Danh sch thuc tnh lp DetectObjectLayer ............................... 79
Bng 3.17 Danh sch phng thc lp DetectObjectLayer ........................... 80
Bng 3.18 Danh sch thuc tnh lp NeuralNetwork<T>.............................. 80
Bng 3.19 Danh sch phng thc lp NeuralNetwork<T> ......................... 80
Bng 3.20 Danh sch mn hnh ...................................................................... 82
Bng 3.21 Chi tit mn hnh chnh ................................................................. 83
Bng 3.22 Chi tit mn hnh pht hin bin bo bng tay ............................. 84
Bng 3.23 Chi tit mn hnh pht hin bin bo t ng ............................... 85
Bng 3.24 Chi tit mn hnh kt qu detect ................................................... 86
Bng 3.25 Chi tit mn hnh kt qu nhn dng ............................................ 86
Bng 3.26 Bng kt qu thc nghim ............................................................ 87

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Trng Giang

DANH MC HNH V
Hnh 1.1 Mt s thit b hay c s dng trong nhn dng ................................... 1
Hnh 1.2 Smartphone ang l xu hng pht trin mi trong giai on ny ........... 2
Hnh 1.3 Nhng nn tng s s dng trong kha lun ............................................. 3
Hnh 2.1 Cc bc c bn trong x l nh ............................................................... 4
Hnh 2.2 Hng cc im bin v m tng ng..................................................... 7
Hnh 2.3 Minh ha xc nh im bin .................................................................. 12
Hnh 2.4 Lc rn ln v cch chn ngng .................................................. 13
Hnh 2.5 Minh ha khi nim lin thng ................................................................ 15
Hnh 2.6 n v x l (Processing Unit) ............................................................... 18
Hnh 2.7 Hm ng nht (Identity function) .......................................................... 20
Hnh 2.8 Hm bc nh phn (Binary step function) ............................................. 21
Hnh 2.9 Hm Sigmoid ........................................................................................... 21
Hnh 2.10 Hm sigmoid lng cc......................................................................... 22
Hnh 2.11 Mng nron truyn thng nhiu lp (Feed-forward neural network) .... 23
Hnh 2.12 Mng nron hi quy (Recurrent neural network) .................................. 24
Hnh 2.13 M hnh Hc c thy (Supervised learning model) ............................... 25
Hnh 2.14 Mng nron truyn thng nhiu lp ...................................................... 26
Hnh 2.15 Lch s pht trin Android ..................................................................... 32
Hnh 2.16 Mt s giao din ca Android ............................................................... 33
Hnh 2.17 Bn phm ca Android .......................................................................... 33
Hnh 2.18 Kin trc ca Android ........................................................................... 34
Hnh 2.19 Kin trc file XML ................................................................................ 37
Hnh 2.20 Activity Stack ........................................................................................ 39
Hnh 2.21 Vng i ca mt Activity .................................................................... 40
Hnh 2.22 V d v Computer Vision ..................................................................... 41
Hnh 2.23 Tc x l ca OpenCV so vi LTI v VXL ..................................... 43
Hnh 2.24 Lch s pht trin ca OpenCV ............................................................. 44
Hnh 2.25 Cu trc th vin OpenCV .................................................................... 45
Hnh 3.1 Bi ton nhn dng bin bo giao thng .................................................. 48
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Trng Giang

Hnh 3.2 Mt s mu bin bo cm ........................................................................ 49


Hnh 3.3 Mt s mu bin bo hiu lnh ................................................................ 50
Hnh 3.4 Mt s mu bin bo nguy him.............................................................. 51
Hnh 3.5 M hnh gii quyt bi ton ..................................................................... 52
Hnh 3.6 Mu bin bo cm .................................................................................... 54
Hnh 3.7 Mu bin nguy him ................................................................................ 54
Hnh 3.8 Mu bin hiu lnh .................................................................................. 54
Hnh 3.9 Mu mt s bin bo qu c bit ............................................................. 55
Hnh 3.10 nh ban u thu t camera .................................................................... 56
Hnh 3.11 nh sau khi chuyn sang nh mc xm............................................ 56
Hnh 3.12 nh sau khi dng Canny tm bin..................................................... 57
Hnh 3.13 Khng gian mu HSV ............................................................................ 58
Hnh 3.14 Khong gi tr ng vi di mu ........................................................ 58
Hnh 3.15 Khong gi tr ng vi di mu xanh .................................................... 58
Hnh 3.16 nh sau khi lc qua mt n mu ....................................................... 59
Hnh 3.17 nh sau khi dng Canny pht hin bin ................................................ 60
Hnh 3.18 Kt qu ca ROI Extraction ................................................................... 61
Hnh 3.19 Cu trc mng noron nhn dng bin bo ........................................ 64
Hnh 3.20 Tp d liu mu hun luyn mng .................................................... 65
Hnh 3.21 Tp bin bo chun ................................................................................ 65
Hnh 3.20 S Use-case tng qut....................................................................... 69
Hnh 3.21 S lp mc phn tch ........................................................................ 74
Hnh 3.22 Cu trc file d liu XML ..................................................................... 81
Hnh 3.23 Mn hnh chnh ...................................................................................... 82
Hnh 3.24 Mn hnh pht hin bin bo bng tay ................................................... 84
Hnh 3.25 Mn hnh pht hin bin bo t ng .................................................... 85
Hnh 3.26 Mn hnh kt qu detect ......................................................................... 85
Hnh 3.27 Mn hnh kt qu nhn dng .................................................................. 86

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Trng Giang

1|Trang

CHNG 1 :

GII THIU

Chng ny trnh by cc vn sau:


1.1 Gii thiu ti
1.2 Mc tiu ca ti

1.1 Gii Thiu Ti


Ngy nay, nhng tin b mi trong khoa hc k thut cng ngh gip ch rt
nhiu cho cuc sng ca con ngi. Mi th hu nh u c t ng v hiu sut
cng vic c nng cao hn vi s tr gip ca my mc, thit b. Mt trong nhng
cng ngh tin tin ang c p dng rng ri trong i sng chnh l cng ngh
nhn dng.

Hnh 1.1 Mt s thit b hay c s dng trong nhn dng

Nhn dng d liu bao gm c nhn dng m thanh v nhn dng hnh nh.
Cc i tng ca bi ton nhn dng th rt phong ph, v d nh nhn dng khun
mt, ting ni, nhn dng ch vit tay, nhn dng m vch Bin bo giao thng
cng l mt trong s . y l kiu i tng c tnh cht hnh hc c trng,
thng bt gp trong i sng hng ngy vi cng dng l a ra nhng cnh bo
thng tin cho ngi tham gia giao thng. Tuy nhin cc bin bo giao thng th khng
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2|Trang

c quy lut m ch l h thng cc k hiu vi ngha qui c km theo. Vic ghi nh


hnh dng v ngha ca tt c cc loi bin bo i vi chng ta s l mt kh khn
ln, do chng ta thng hay c nhu cu tra cu tm hiu trc quan.
Bi ton nhn dng ni chung v nhn dng bin bo giao thng ni ring hin
vn cn l mt trong nhng ch c cc nh khoa hc nghin cu. Hin ti c
mt s h thng tin tin ca nc ngoi c kh nng nhn dng bin bo giao thng
nhng hu ht cc h thng ny u i hi mt kh nng x l mnh m, i km vi
n l camera c cht lng cao.
Quay tr li vn , ngy nay my tnh khng cn l cng c tr gip c tn
dnh cho con ngi. Hu ht chng ta ai cng bit n s pht trin mnh m ca cc
loi thit b gii tr cm tay nh gn. chnh l smartphone. Vi u im l kch
thc b, i km vi n l cc chp x l thng minh tc cao, smartphone c kh
nng m ng rt nhiu tc v ging y nh ang thao tc trn my tnh. Pht trin
phn mm cho smartphone hin cng l xu th tt yu.

Hnh 1.2 Smartphone ang l xu hng pht trin mi trong giai on ny

ng dng cng ngh nhn dng trn smartphone chnh l tng m nhm
hng ti khi thc hin kha lun ny. Bi ton nhm s gii quyt l lm th no xy
dng mt h thng thng minh cho php pht hin v nhn dng bin bo giao thng
trn thit b di ng.
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3|Trang

1.2 Mc Tiu Ca Ti
Mc tiu ca ti l nghin cu bi ton nhn dng ni chung v nhn dng
bin bo giao thng ni ring, t ci tin p dng cho vic xy dng h thng trn
cc thit b di ng. Mc d smartphone c nhng ci tin vt tri nhng tt nhin
nhng khc bit v phn cng nh chip x l hay camera s khng th so snh vi
my tnh c. Do chng trnh nhm xy dng s tm cch ti u ha lm sao
cho c th tn dng c nhng kh nng vn c ca smartphone.
Ngoi ra h thng bin bo giao thng ca nc ta kh ln, do nhm s xy
dng chng trnh hon chnh nhng s thu nh tp d liu li, coi y nh l mt tp
d liu demo p dng cho kha lun ny.
Chng trnh s c xy dng trn nn tng Android, mt trong nhng nn
tng di ng pht trin mnh nht hin nay. Ngoi ra nhm s dng th vin OpenCv
h tr cho vic x l nh.

Hnh 1.3 Nhng nn tng s s dng trong kha lun

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4|Trang

CHNG 2 :

NN TNG V CNG NGH

Chng ny trnh by cc vn sau:


2.1 L thuyt x l nh
2.2 L thuyt mng nron
2.3 Nn tng Android
2.4 Th vin x l nh OpenCV

2.1 L Thuyt X L nh
2.1.1 Tng quan v x l nh
2.1.1.1 X l nh l g
Con ngi thu nhn thng tin qua cc gic quan, trong th gic ng vai tr
quan trng nht. Nhng nm tr li y vi s pht trin ca phn cng my tnh, x
l nh v ho pht trin mt cch mnh m v c nhiu ng dng trong cuc
sng. X l nh v ho ng mt vai tr quan trng trong tng tc ngi my.
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 hoc mt kt lun.
C th hiu mt cch khc, x l nh hay cao cp hn na l th gic my tnh
(Computer Vision) bao gm tt c cc l thuyt v k thut lin quan, cho php to
lp mt h thng c kh nng tip nhn thng tin t cc hnh nh thu c, lu tr v
x l theo nhu cu.

Hnh 2.1 Cc bc c bn trong x l nh

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5|Trang

Thu nhn nh: Qu trnh tip nhn thng tin t vt th thng qua camera mu
hoc trng en, nh thu nhn c c th l nh tng t hoc nh s ha.
Tin x l nh: Sau b thu nhn, nh c th nhiu, tng phn thp nn cn
a vo b tin x l nng cao cht lng. Chc nng chnh ca b tin x
l l lc nhiu, nng tng phn lm nh r hn, nt hn.
Phn on nh: L tch mt nh u vo thnh cc vng thnh phn biu
din phn tch, nhn dng nh. V d: nhn dng ch (hoc m vch) trn
phong b th cho mc ch phn loi bu phm, cn chia cc cu, ch v a
ch hoc tn ngi thnh cc t, cc ch, cc s (hoc cc vch) ring bit
nhn dng. y l phn phc tp kh khn nht trong x l nh v cng d gy
li, lm mt chnh xc ca nh. Kt qu nhn dng nh ph thuc rt nhiu
vo cng on ny.
Biu din nh: u ra nh sau phn on cha cc im nh ca vng nh
(nh phn on) cng vi m lin kt vi cc vng ln cn. Vic bin i
cc s liu ny thnh dng thch hp l cn thit cho x l tip theo bng my
tnh. Vic chn cc tnh cht th hin nh gi l trch chn c trng
(Feature Selection) gn vi vic tch cc c tnh ca nh di dng cc thng
tin nh lng hoc lm c s phn bit lp i tng ny vi i tng
khc trong phm vi nh nhn c. V d: trong nhn dng k t trn phong b
th, chng ta miu t cc c trng ca tng k t gip phn bit k t ny vi
k t khc.
Nhn dng v ni suy nh: Nhn dng nh l qu trnh xc nh nh. Qu
trnh ny thng thu c bng cch so snh vi mu chun c hc (hoc
lu) t trc. Ni suy l phn on theo ngha trn c s nhn dng. V d:
mt lot ch s v nt gch ngang trn phong b th c th c ni suy thnh
m in thoi.

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6|Trang

2.1.1.2 Mt s khi nim trong x l nh


- nh v im nh: Gc ca nh (nh t nhin) l nh lin tc v khng
gian v sng. x l bng my tnh, nh cn phi c s ho. S ho nh l s
bin i gn ng mt nh lin tc thnh mt tp im ph hp vi nh tht v v tr
(khng gian) v sng (mc xm). Khong cch gia cc im nh c thit
lp sao cho mt ngi khng phn bit c ranh gii gia chng. Mi mt im nh
vy gi l im nh v nh c xem nh l 1 tp hp cc im nh.
- phn gii ca nh: phn gii (Resolution) ca nh l mt
im nh c n nh trn mt nh s c hin th.
- Mc xm ca nh: Mc xm ca im nh l cng sng ca n
c gn bng gi tr s ti im . Gi tr mc xm thng thng: 16, 32, 64, 128,
256.
- nh en trng: l nh c hai mu en, trng (khng cha mu khc) vi
mc xm cc im nh c th khc nhau.
- nh nh phn: l nh ch c 2 mc en trng phn bit tc dng 1 bit
m t 21 mc khc nhau. Ni cch khc: mi im nh ca nh nh phn ch c th l
0 hoc 1.
2.1.2 Mt s phng php biu din nh
Sau khi thu nhn v s ha, nh s c lu tr hay chuyn sang giai on phn tch.
Trc khi cp n vn lu tr nh, cn xem xt nh s c biu din ra sao
trong b nh my tnh.
2.1.2.1

M lot di

M lot di (Run-length Code) hay dng biu din cho vng nh hay
nh nh phn. Mt vng nh R c th biu din n gin nh mt ma trn nh phn:

Vi cc biu din trn, mt vng nh hay nh nh phn c xem nh chui 0 hay 1


an xen. Cc chui ny c gi l mch (run). Theo phng php ny, mi mch s

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7|Trang

c biu din bi a ch bt u ca mch v chiu di mch theo dng


{<hng,ct>, chiu di}.
2.1.2.2

M xch

M xch (Chain Code) thng c dng biu din bin ca nh. Thay v
lu tr ton b nh, ngi ta lu tr dy cc im nh nh A, BM. Theo phng
php ny, 8 hng ca vect ni 2 im bin lin tc c m ha. Khi nh c
biu din qua im nh bt u A cng vi chui cc t m. iu ny c minh ha
trong hnh di y:

Hnh 2.2 Hng cc im bin v m tng ng

2.1.2.3

M t phn

Theo phng php m t phn (Quad Tree Code), mt vng nh coi nh bao
kn mt hnh ch nht. Vng ny c chia lm 4 vng con (Quadrant). Nu mt vng
con gm ton im en (1) hay ton im trng (0) th khng cn chia tip. Trong
trng hp ngc li, vng con gm c im en v trng gi l vng khng ng
nht, ta tip tc chia thnh 4 vng con tip v kim tra tnh ng nht ca cc vng
con . Qu trnh chia dng li khi mi vng con ch cha thun nht im en hoc
im trng. Qu trnh to thnh mt cy chia theo bn phn gi l cy t phn.
Nh vy, cy biu din nh gm mt chui cc k hiu b (black), w (white) v g
(grey) km theo k hiu m ha 4 vng con. Biu din theo phng php ny u vit
hn so vi cc phng php trn, nht l so vi m lot di. Tuy nhin, tnh ton s
o cc hnh nh chu vi, m men l tng i kh khn.
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2.1.3 Phng php pht hin bin nh


-

im Bin: Mt im nh c coi l im bin nu c s thay i nhanh hoc


t ngt v mc xm (hoc mu). V d trong nh nh phn, im en gi l
im bin nu ln cn n c t nht mt im trng.

ng bin (ng bao: boundary): tp hp cc im bin lin tip to thnh


mt ng bin hay ng bao.

ngha ca ng bin : ng bin l mt loi c trng cc b tiu biu


trong phn tch, nhn dng nh. Ngi ta s dng bin lm phn cch cc vng
xm (mu) cch bit.
2.1.3.1

Pht hin bin trc tip

Phng php ny lm ni bin da vo s bin thin mc xm ca nh.


K thut ch yu dng pht hin bin y l k thut ly o hm. Nu ly o
hm bc nht ca nh ta c cc k thut Gradient, nu ly o hm bc hai ca nh ta
c k thut Laplace. Ngoi ra cn c mt s cch tip cn khc.
2.1.3.1.1 K thut pht hin bin Gradient
Gradient l mt vec t f(x, y) c cc thnh phn biu th tc thay
i mc xm ca im nh (theo hai hng x, y trong bi cnh x l nh hai
chiu)

Trong , dx, dy l khong cch (tnh bng s im) theo hng x v


y. Tuy ta ni l ly o hm nhng thc cht ch l m phng v xp x o
hm bng cc k thut nhn chp v nh s l tn hiu ri rc nn o hm
khng tn ti (thc t chn dx= dy=1).
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
(theo 2 hng vung gc).
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Mt n Prewitt
- K thut s dng 2 mt n nhn chp xp x o hm theo 2
hng x v y l:

- Tnh I Hx+ I Hy ra c kt qu
- V d:

Mt n Sobel
- K thut s dng 2 mt n nhn chp xp x o hm theo 2
hng x v y l:

- Tnh I Hx+ I Hy ra c kt qu.


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10 | T r a n g

K thut la bn
- K thut s dng 8 mt n nhn chp theo 8 hng 00, 450,
900, 1350, 1800, 2250, 2700, 3150.

- Kt qu thu c bng cch tnh

I H
i 1

2.1.3.1.2 K thut pht hin bin Laplace

Ton t Laplace c nh ngha nh sau:

2 f 2 f
f 2 2
x
y

Ta c:

2 f
f

f ( x 1, y) f ( x, y )
x 2 x x x
f ( x 1, y ) f ( x, y) f ( x, y) f ( x 1, y )
f ( x 1, y) 2 f ( x, y) f ( x 1, y)
Tng t

2 f
f
f ( x, y 1) f ( x, y)

y 2 y y y

f ( x, y 1) f ( x, y ) f ( x, y) f ( x, y 1)
f ( x, y 1) 2 f ( x, y) f ( x, y 1)
Vy: f= f(x+1,y) + f(x,y+1) - 4f(x,y) + f(x-1,y) + f(x,y-1)
2

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Dn ti

Trong thc t, ngi ta thng dng nhiu kiu mt n khc nhau


xp x ri rc o hm bc hai Laplace. Di y l ba kiu mt n
thng dng:

2.1.3.1.3 K thut pht hin bin Canny


y l mt thut ton tng i tt, c kh nng a ra ng bin
mnh, v pht hin chnh xc im bin vi im nhiu.
Ta c thut ton nh sau:
-

Bc 1: Lm trn nh

Tnh I H, vi:
2
4
1
5
H
115
4
2

12 9 4
15 12 5

12 9 4
5 4 2

4 5 4 2
9
12
9
4

Gi G l kt qu lc nhiu: G= IH
-

Bc 2: Tnh gradient ca nh bng mt n Prewitt, kt qu t vo Gx,Gy.

Gx = GHx, Gy = GHy
-

Bc 3: Tnh gradient hng ti mi im (i,j) ca nh. Hng ny s c


nguyn ha nm trong 8 hng [0..7], tng ng vi 8 ln cn ca mt
im nh.

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Bc 4: Dng rng buc loi b nhng im


khng phi l cc i xa b nhng im
khng l bin. Xt (i,j), l gradient hng ti (i,j).
I1, I2 l hai im ln cn ca (i,j) theo hng .
Theo nh ngha im bin cc b th (i,j) l bin
nu I(i,j) cc i a phng theo hng gradient
Nu I(i,j) > I1 v I(i,j) > I2 th mi gi li I(i,j),
ngc li xa I(i,j) v im nh nn.
Hnh 2.3 Minh ha xc nh im bin

Bc 5: Phn ngng. Vi cc im c gi li, thc hin ly ngng


gradient bin ln cui xc nh cc im bin thc s.
2.1.3.2

Pht hin bin gin tip

Nu bng cch no y, chng ta thu c cc vng nh khc nhau th


ng phn cch gia cc vng chnh l bin. Ni cch khc, vic xc nh ng
bao ca nh c thc hin t nh c phn vng. Phng php d bin gin tip
kh ci t nhng p dng tt khi s bin thin sng nh. c th tin hnh xc
nh bin theo cch gin tip ny, chng ta cn gii quyt c bi ton phn vng
nh.
2.1.4 Phn vng nh
Phn vng nh l bc then cht trong x l nh. Giai on ny nhm phn
tch nh thnh nhng thnh phn c cng tnh cht no da theo bin hay cc vng
lin thng. Tiu chun xc nh cc vng lin thng c th l cng mc xm, cng
mu hay cng nhm
Vng nh l mt chi tit, mt thc th trng ton cnh. N l mt tp hp cc
im c cng hoc gn cng mt tnh cht no : mc xm, mc mu, nhm
Vng nh l mt trong hai thuc tnh ca nh. Ni n vng nh l ni n tnh cht
b mt. ng bao quanh mt vng nh (Boundary) l bin nh. Cc im trong mt
vng nh c bin thin gi tr mc xm tng i ng u hay tnh kt cu tng
ng.
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Da vo c tnh vt l ca nh, ngi ta c nhiu k thut phn vng : phn


vng da theo min lin thng gi l phn vng da theo min ng nht hay min
k, phn vng da vo bin gi l phn vng bin. Ngoi ra cn c cc k thut phn
vng khc da vo bin , phn vng da theo kt cu.
2.1.4.1

Phn vng theo ngng bin

c tnh n gin nht v c th hu ch nht ca nh l bin ca cc


tnh cht vt l ca nh nh: tng phn, truyn sng, mu sc hoc quang ph.
Nh vy, c th dng ngng bin phn vng khi bin ln c
trng cho nh. Th d, bin trong b cm bin nh hng ngoi c th phn nh
vng c nhit thp hay vng c nhit cao. K thut phn ngng theo bin
rt c li i vi nh nh phn nh vn bn in, ha, nh mu hay nh X-quang.
Vic chn ngng rt quan trng. N bao gm cc bc :

Xem xt lc xm ca nh xc nh cc nh v cc khe. Nu
nh c dng rn ln (nhiu nh v khe), cc khe c th dng
chn ngng.

Chn ngng t sao cho mt phn xc nh trc ca ton b s


mu l thp hn t.

iu chnh ngng da trn lc xm ca cc im ln cn.

Chn ngng theo lc xm ca nhng im tha mn tiu


chun chn. Th d, vi nh c tng phn thp, lc ca
nhng im c bin Laplace g(m,n) ln hn gi tr t nh trc
(sao cho t 5% n 10% s im nh vi Gradient ln nht s coi
nh bin) s cho php xc nh cc c tnh nh lng cc tt hn
nh gc.

Ta xt v d sau v vic phn vng da


trn ngng bin :

Hnh 2.4 Lc rn ln v cch chn ngng

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Gi s nh c lc xm v cch chn cc ngng nh hnh trn vi:


T0=Lmin, , T4=Lmax. Ta c 5 ngng v phn nh thnh 4 vng, k hiu Ck l
vng th k ca nh, k=1,2,3,4. Cch phn vng theo nguyn tc :
P(m,n)

Ck nu Tk-1 P(m,n) < Tk , k=1,2,3,4.

Khi phn vng xong, nu nh r nt th vic phn vng coi nh kt thc. Nu


khng, cn iu chnh ngng.
2.1.4.2

Phn vng theo min ng nht

K thut phn vng nh thnh cc min ng nht da vo cc tnh cht quan


trng no ca min nh. Vic la chn cc tnh cht ca min s xc nh tiu
chun phn vng. Tnh ng nht ca mt min nh l im ch yu xc nh tnh
hiu qu ca vic phn vng. Cc tiu chun hay c dng l s thun nht v mc
xm, mu sc i vi nh mu, kt cu si v chuyn ng.
Cc phng php phn vng nh theo min ng nht thng p dng l :
Phng php tch cy t phn
Phng php cc b
Phng php tng hp
2.1.4.2.1 Phng php tch cy t phn
V nguyn tc, phng php ny kim tra tnh ng n ca tiu chun
ra mt cch tng th trn min ln ca nh. Nu tiu chun c tha mn,
vic phn on coi nh kt thc. Trong trng hp ngc li, chia min ang
xt thnh 4 min nh hn. Vi mi min nh, p dng mt cch quy phng
php trn cho n khi tt c cc min u tha mn iu kin.
Phng php ny c th m t bng thut ton sau :

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Tiu chun xt min ng nht y c th da vo mc xm. Ngoi ra,


c th da vo lch chun hay chnh gia gi tr mc xm ln nht v
gi tr mc xm nh nht. Gi s Max v Min l gi tr mc xm ln nht v
nh nht trong min ang xt.
Nu |Max Min| < T (ngng) ta coi min ang xt l ng nht.
Trng hp ngc li, min ang xt khng l min ng nht v s c chia
lm 4 phn.
2.1.4.2.2 Phng php cc b
tng ca phng php l xt nh t cc min nh nht ri ni chng
li nu tha mn tiu chun c mt min ng nht ln hn. Tip tc vi
cc min thu c cho n khi khng th ni thm c na. S min cn li
cho ta kt qu phn on. Nh vy, min nh nht ca bc xut pht l im
nh.
Phng php ny hon ton ngc vi phng php tch. Song iu
quan trng y l nguyn l ni 2 vng. Vic ni 2 vng c thc hin theo
nguyn tc sau :
-

Hai vng phi p ng tiu chun, th d nh cng mu hay cng


mc xm.

Hai vng phi k cn nhau.

Trong x l nh, ngi ta dng khi nim lin thng xc nh tnh


cht k cn. C hai khi nim v lin thng l 4 lin thng v 8 lin thng. Vi
4 lin thng mt im nh I(x,y) s c 4 k cn theo 2 hng x v y ; trong khi
vi 8 lin thng, im I(x,y) s c 4 lin thng theo 2 hng x, y v 4 lin
thng khc theo hng cho 45o

Hnh 2.5 Minh ha khi nim lin thng

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Da theo nguyn l ca phng php ni, ta c 2 thut ton :


-

Thut ton t mu (Blob Coloring) : s dng khi nim 4 lin


thng, dng mt ca s di chuyn trn nh so snh vi tiu
chun ni.

Thut ton quy cc b: s dng phng php tm kim trong


mt cy lm tng kch thc vng.
2.1.4.2.3 Phng php tng hp

Hai phng php ni (hp) v tch u c nhc im. Phng php


tch s to nn mt cu trc phn cp v thit lp mi quan h gia cc vng.
Tuy nhin, n thc hin vic chia qu chi tit. Phng php hp cho php lm
gim s min lin thng xung ti thiu, nhng cu trc hng ngang dn tri,
khng cho ta thy r mi lin h gia cc min.
V nhc im ny, ngi ta ngh n phi hp c 2 phng php.
Trc tin, dng phng php tch to nn cy t phn, phn on theo
hng t gc n l. Tip theo, tin hnh duyt cy theo chiu ngc li v
hp cc vng c cng tiu chun. Vi phng php ny ta thu c mt cu
trc nh vi cc min lin thng c kch thc ti a.
2.1.4.3

Phn vng theo kt cu b mt

Kt cu thng c nhn bit trn b mt ca cc i tng nh g, ct, vi


vc Kt cu l thut ng phn nh s lp li ca cc phn t si (texel) c bn. S
lp li ny c th ngu nhin hay c tnh chu k hoc gn chu k. Mt texel cha rt
nhiu im nh. Trong phn tch nh, kt cu c chia lm hai loi chnh l: loi
thng k v loi cu trc.
Khi i tng xut hin trn mt nn c tnh kt cu cao, vic phn on da
vo tnh kt cu tr nn quan trng. Nguyn nhn l kt cu si thng cha mt
cao cc g (edge) lm cho phn on theo bin km hiu qu, tr phi ta loi tnh kt
cu.
Nhn chung, vic phn loi v phn vng da vo kt cu l mt vn phc
tp. Trong thc t, chng ta thng ch gii quyt vn ny bng cch cho bit trc
cc loi kt cu (da vo quy lut hay cch phn b ca n).
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2.1.5 Nhn dng nh


Nhn dng nh l giai on cui ca cc h thng x l nh. Nhn dng l qu
trnh phn loi cc i tng c biu din theo mt m hnh no v gn chng
mt tn (gn cho i tng mt tn gi, tc l mt dng) da theo nhng quy lut v
mu chun.
Trong l thuyt v nhn dng ni chung v nhn dng nh ni ring c ba cch
tip cn khc nhau:
-

Nhn dng da vo phn hoch khng gian.

Nhn dng da vo cu trc.

Nhn dng da vo k thut mng nron.


Hc c thy: 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. 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.
Hc khng c thy: k thut ny phi t nh ra cc lp khc nhau v xc nh
cc tham s c trng cho tng lp. Hc khng c thy ng nhin l gp kh khn
hn. Mt mt, do s lp khng c bit trc, mt khc nhng c trng ca lp
cng khng c 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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2.2 L Thuyt Mng Nron


2.2.1 Tng quan v mng nron
2.2.1.1 Mng nron nhn to
Mng noron nhn to (Artifical Neural Networks) m phng li mng noron
sinh hc l mt cu trc khi gm cc n v tnh ton n gin c lin kt cht ch
vi nhau trong cc lin kt gia cc noron quyt nh chc nng ca mng.
2.2.1.2 Cc c trng c bn ca mng nron
-

Gm mt tp cc n v x l (cc noron nhn to)

Trng thi kch hot hay u ra ca n v x l

Lin kt gia cc n v. Xt tng qut, mi lin kt c nh ngha bi mt


trng s Wjk cho ta bit hiu ng m tn hiu ca n v j c trn n v k

Mt lut lan truyn quyt nh cch tnh tn hiu ra ca tng n v t u vo


ca n

Mt hm kch hot, hay hm chuyn (activation function, transfer function),


xc nh mc kch hot khc da trn mc kch hot hin ti

Mt n v iu chnh lch (bias, offset) ca mi n v

Phng php thu thp thng tin (lut hc - learning rule)

Mi trng h thng c th hot ng.

2.2.2 Cc thnh phn c bn ca mng nron nhn to


2.2.2.1 n v x l
Cn c gi l mt nron hay mt nt (node), thc hin mt cng vic rt
n gin: n nhn tn hiu vo t cc n v pha trc hay mt ngun bn ngoi v
s dng chng tnh tn hiu ra s c lan truyn sang cc n v khc.

Hnh 2.6 n v x l (Processing Unit)

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Trong :
xi : cc u vo
wji : cc trng s tng ng vi cc u vo
j : lch (bias)
aj : u vo mng (net-input)
zj : u ra ca nron
g(x): hm chuyn (hm kch hot).
Trong mt mng nron c ba kiu n v:
-

Cc n v u vo (Input units), nhn tn hiu t bn ngoi.

Cc n v u ra (Output units), gi d liu ra bn ngoi.

Cc n v n (Hidden units), tn hiu vo (input) v ra (output)


ca n nm trong mng.

Mi n v j c th c mt hoc nhiu u vo: x0, x1, x2, xn, nhng ch c


mt u ra zj. Mt u vo ti mt n v c th l d liu t bn ngoi mng, hoc
u ra ca mt n v khc, hoc l u ra ca chnh n.
2.2.2.2 Hm kt hp
Mi mt n v trong mt mng kt hp cc gi tr a vo n thng qua cc
lin kt vi cc n v khc, sinh ra mt gi tr gi l net input. Hm thc hin nhim
v ny gi l hm kt hp (combination function), c nh ngha bi mt lut lan
truyn c th. Trong phn ln cc mng nron, chng ta gi s rng mi mt n v
cung cp mt b cng nh l u vo cho n v m n c lin kt. Tng u vo n
v j n gin ch l tng trng s ca cc u ra ring l t cc n v kt ni cng
thm ngng hay lch (bias) j :

Trng hp wji > 0, nron c coi l ang trong trng thi kch thch.
Tng t, nu nh wji < 0, nron trng thi kim ch. Chng ta gi cc n v vi
lut lan truyn nh trn l cc sigma units.
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Trong mt vi trng hp ngi ta cng c th s dng cc lut lan truyn


phc tp hn. Mt trong s l lut sigma-pi, c dng nh sau:

Rt nhiu hm kt hp s dng mt " lch" hay "ngng" tnh net input


ti n v. i vi mt n v u ra tuyn tnh, thng thng, j c chn l hng
s v trong bi ton xp x a thc j = 1.
2.2.2.3 Hm kch hot
Phn ln cc n v trong mng nron chuyn net input bng cch s dng mt
hm v hng (scalar-to-scalar function) gi l hm kch hot, kt qu ca hm ny l
mt gi tr gi l mc kch hot ca n v (unit's activation). Loi tr kh nng
n v thuc lp ra, gi tr kch hot c a vo mt hay nhiu n v khc. Cc
hm kch hot thng b p vo mt khong gi tr xc nh, do thng c gi l
cc hm bp (squashing). Cc hm kch hot hay c s dng l:
Hm ng nht (Linear function, Identity function )

Nu coi cc u vo l mt n v th chng s s dng hm ny. i


khi mt hng s c nhn vi net-input to ra mt hm ng nht.

Hnh 2.7 Hm ng nht (Identity function)

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Hm bc nh phn (Binary step function, Hard limit function)


Hm ny cng c bit n vi tn "Hm ngng" (Threshold function
hay Heaviside function). u ra ca hm ny c gii hn vo mt
trong hai gi tr:

Dng hm ny c s dng trong cc mng ch c mt lp. Trong hnh


v sau, c chn bng 1.

Hnh 2.8 Hm bc nh phn (Binary step function)

Hm sigmoid (Sigmoid function (logsig))

Hm ny c bit thun li khi s dng cho cc mng c hun luyn


(trained) bi thut ton Lan truyn ngc (back-propagation), bi v n
d ly o hm, do c th gim ng k tnh ton trong qu trnh
hun luyn. Hm ny c ng dng cho cc chng trnh ng dng m
cc u ra mong mun ri vo khong [0,1].

Hnh 2.9 Hm Sigmoid

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Hm sigmoid lng cc (Bipolar sigmoid function (tansig))

Hm ny c cc thuc tnh tng t hm sigmoid. N lm vic tt i


vi cc ng dng c u ra yu cu trong khong [-1,1].

Hnh 2.10 Hm Sigmoid lng cc

Cc hm chuyn ca cc n v n (hidden units) l cn thit biu din s


phi tuyn vo trong mng. L do l hp thnh ca cc hm ng nht l mt hm
ng nht. Mc d vy nhng n mang tnh cht phi tuyn (ngha l, kh nng biu
din cc hm phi tuyn) lm cho cc mng nhiu tng c kh nng rt tt trong biu
din cc nh x phi tuyn. Tuy nhin, i vi lut hc lan truyn ngc, hm phi kh
vi (differentiable) v s c ch nu nh hm c gn trong mt khong no . Do
vy, hm sigmoid l la chn thng dng nht.
i vi cc n v u ra (output units), cc hm chuyn cn c chn sao
cho ph hp vi s phn phi ca cc gi tr ch mong mun. Chng ta thy rng
i vi cc gi tr ra trong khong [0,1], hm sigmoid l c ch; i vi cc gi tr ch
mong mun l lin tc trong khong th hm ny cng vn c ch, n c th cho ta
cc gi tr ra hay gi tr ch c cn trong mt khong ca hm kch hot u ra.
Nhng nu cc gi tr ch khng c bit trc khong xc nh th hm hay c
s dng nht l hm ng nht (identity function). Nu gi tr mong mun l dng
nhng khng bit cn trn th nn s dng mt hm kch hot dng m (exponential
output activation function).

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2.2.2.4 Cc hnh trng ca mng


Hnh trng ca mng c nh ngha bi: s lp (layers), s n v trn mi
lp, v s lin kt gia cc lp nh th no. Cc mng v tng th c chia thnh hai
loi da trn cch thc lin kt cc n v:
2.2.2.4.1 Mng truyn thng (Feed-forward neural network):
Dng d liu t n v u vo n n v u ra ch c truyn
thng. Vic x l d liu c th m rng ra nhiu lp, nhng khng c cc lin
kt phn hi. Ngha l, cc lin kt m rng t cc n v u ra ti cc n v
u vo trong cng mt lp hay cc lp trc l khng cho php.

Hnh 2.11 Mng nron truyn thng nhiu lp (Feed-forwardneural network)

2.2.2.4.2 Mng hi quy (Recurrent neural network):


C cha cc lin kt ngc. Khc vi mng truyn thng, cc thuc
tnh ng ca mng mi quan trng. Trong mt s trng hp, cc gi tr kch
hot ca cc n v tri qua qu trnh ni lng (tng gim s n v v thay i
cc lin kt) cho n khi mng t n mt trng thi n nh v cc gi tr kch
hot khng thay i na. Trong cc ng dng khc m cch chy ng to
thnh u ra ca mng th nhng s thay i cc gi tr kch hot l ng quan
tm.

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Hnh 2.12 Mng nron hi quy (Recurrent neural network)

2.2.2.5 Hun luyn mng


Chc nng ca mt mng nron c quyt nh bi cc nhn t nh: hnh
trng mng (s lp, s n v trn mi tng, v cch m cc lp c lin kt vi
nhau) v cc trng s ca cc lin kt bn trong mng. Hnh trng ca mng thng l
c nh, v cc trng s c quyt nh bi mt thut ton hun luyn (training
algorithm). Tin trnh iu chnh cc trng s mng nhn bit c quan h gia
u vo v ch mong mun c gi l hc (learning) hay hun luyn (training). Rt
nhiu thut ton hc c pht minh tm ra tp trng s ti u lm gii php cho
cc bi ton. Cc thut ton c th chia lm hai nhm chnh: Hc c thy
(Supervised learning) v Hc khng c thy (Unsupervised Learning).
2.2.2.5.1 Hc c thy (Supervised learning):
Mng c hun luyn bng cch cung cp cho n cc cp mu u
vo v cc u ra mong mun (target values). Cc cp c cung cp bi "thy
gio", hay bi h thng trn mng hot ng. S khc bit gia cc u ra
thc t so vi cc u ra mong mun c thut ton s dng thch ng cc
trng s trong mng. iu ny thng c a ra nh mt bi ton xp x
hm s - cho d liu hun luyn bao gm cc cp mu u vo x, v mt ch
tng ng t, mc ch l tm ra hm f(x) tho mn tt c cc mu hc u vo.

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Hnh 2.13 M hnh Hc c thy (Supervised learning model)

2.2.2.5.2 Hc khng c thy (Unsupervised Learning):


Vi cch hc khng c thy, khng c phn hi t mi trng ch
ra rng u ra ca mng l ng. Mng s phi khm ph cc c trng, cc
iu chnh, cc mi tng quan, hay cc lp trong d liu vo mt cch t
ng. Trong thc t, i vi phn ln cc bin th ca hc khng c thy, cc
ch trng vi u vo. Ni mt cch khc, hc khng c thy lun thc hin
mt cng vic tng t nh mt mng t lin hp, c ng thng tin t d liu
vo.
2.2.2.6 Hm mc tiu
hun luyn mt mng v xt xem n thc hin tt n u, ta cn xy dng
mt hm mc tiu (hay hm gi) cung cp cch thc nh gi kh nng h thng
mt cch khng nhp nhng. Vic chn hm mc tiu l rt quan trng bi v hm ny
th hin cc mc tiu thit k v quyt nh thut ton hun luyn no c th c p
dng. pht trin mt hm mc tiu o c chnh xc ci chng ta mun khng
phi l vic d dng. Mt vi hm c bn c s dng rt rng ri. Mt trong s
chng l hm tng bnh phng li (sum of squares error function)

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Trong
p: s th t mu trong tp hun luyn
i : s th t ca n v u ra
tpi v ypi : tng ng l u ra mong mun v u ra thc t ca mng
cho n v u ra th i trn mu th p.
Trong cc ng dng thc t, nu cn thit c th lm phc tp hm s vi mt
vi yu t khc c th kim sot c s phc tp ca m hnh.
2.2.3 Mng truyn thng v thut ton lan truyn ngc
n gin v trnh hiu nhm, mng truyn thng trnh by trong phn ny l
mng truyn thng c nhiu lp (MLP - MultiLayer Perceptron). y l mt trong
nhng mng truyn thng in hnh, thng c s dng trong cc h thng nhn
dng.
2.2.3.1 Mng truyn thng MLP
Mt mng truyn thng nhiu lp bao gm mt lp vo, mt lp ra v mt
hoc nhiu lp n. Cc nron u vo thc cht khng phi cc nron theo ng
ngha, bi l chng khng thc hin bt k mt tnh ton no trn d liu vo, n
gin n ch tip nhn cc d liu vo v chuyn cho cc lp k tip. Cc nron lp
n v lp ra mi thc s thc hin cc tnh ton, kt qu c nh dng bi hm
u ra (hm chuyn). Cm t truyn thng (feed forward) (khng phi l tri ngha
ca lan truyn ngc) lin quan n mt thc t l tt c cc nron ch c th c kt
ni vi nhau theo mt hng: ti mt hay nhiu cc nron khc trong lp k tip (loi
tr cc nron lp ra).

Hnh 2.14 Mng nron truyn thng nhiu lp

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Trong
P: Vector u vo (vector ct)
Wi: Ma trn trng s ca cc nron lp th i.
(SixRi: S hng (nron) - R ct (s u vo))
bi: Vector lch (bias) ca lp th i (Six1: cho S nron)
ni: net input (Six1)
fi: Hm chuyn (hm kch hot)
ai: net output (Six1)
: Hm tng thng thng.
Mi lin kt gn vi mt trng s, trng s ny c thm vo trong qu trnh
tn hiu i qua lin kt . Cc trng s c th dng, th hin trng thi kch thch,
hay m, th hin trng thi kim ch. Mi nron tnh ton mc kch hot ca chng
bng cch cng tng cc u vo v a ra hm chuyn. Mt khi u ra ca tt c cc
nron trong mt lp mng c th thc hin xong tnh ton th lp k tip c th bt
u thc hin tnh ton ca mnh bi v u ra ca lp hin ti to ra u vo ca lp
k tip. Khi tt c cc nron thc hin tnh ton th kt qu c tr li bi cc
nron u ra. Tuy nhin, c th l cha ng yu cu, khi mt thut ton hun
luyn cn c p dng iu chnh cc tham s ca mng.
Xt trng hp mng c hai lp nh hnh 2.14, cng thc tnh ton cho u ra
nh sau:

Mng c nhiu lp c kh nng tt hn l cc mng ch c mt lp, chng hn


nh mng hai lp vi lp th nht s dng hm sigmoid v lp th hai dng hm
ng nht c th p dng xp x cc hm ton hc kh tt, trong khi cc mng ch
c mt lp th khng c kh nng ny.
2.2.3.2 Thit k cu trc mng
Mc d, v mt l thuyt, c tn ti mt mng c th m phng mt bi ton
vi chnh xc bt k. Tuy nhin, c th tm ra mng ny khng phi l iu n
gin. nh ngha chnh xc mt kin trc mng nh: cn s dng bao nhiu lp n,
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mi lp n cn c bao nhiu n v x l cho mt bi ton c th l mt cng vic ht


sc kh khn.
2.2.3.2.1 S lp n:
V cc mng c hai lp n c th th hin cc hm vi dng iu bt
k, nn, v l thuyt, khng c l do no s dng cc mng c nhiu hn hai
lp n. Ngi ta xc nh rng i vi phn ln cc bi ton c th, ch cn
s dng mt lp n cho mng l . Cc bi ton s dng hai lp n him khi
xy ra trong thc t. Thm ch i vi cc bi ton cn s dng nhiu hn mt
lp n th trong phn ln cc trng hp trong thc t, s dng ch mt lp n
cho ta hiu nng tt hn l s dng nhiu hn mt lp. Vic hun luyn mng
thng rt chm khi m s lp n s dng cng nhiu.
2.2.3.2.2 S n v trong lp n:
Mt vn quan trng trong vic thit k mt mng l cn c bao
nhiu n v trong mi lp. S dng qu t n v c th dn n vic khng
th nhn dng c cc tn hiu y trong mt tp d liu phc tp, hay
thiu n khp (underfitting). S dng qu nhiu n v s tng thi gian luyn
mng, c l l qu nhiu luyn khi m khng th luyn mng trong mt
khong thi gian hp l. S lng ln cc n v c th dn n tnh trng tha
n khp (overfitting), trong trng hp ny mng c qu nhiu thng tin, hoc
lng thng tin trong tp d liu mu (training set) khng cc d liu c
trng hun luyn mng.
S lng tt nht ca cc n v n ph thuc vo rt nhiu yu t s u vo, u ra ca mng, s trng hp trong tp mu, nhiu ca d liu
ch, phc tp ca hm li, kin trc mng v thut ton luyn mng.
Trong phn ln cc trng hp, khng c mt cch c th d
dng xc nh c s ti u cc n v trong lp n m khng phi luyn
mng s dng s cc n v trong lp n khc nhau v d bo li tng qut ha
ca tng la chn. Cch tt nht l s dng phng php th sai (trial-anderror). Trong thc t, c th s dng phng php la chn tin (forward

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selection) hay la chn li (backward selection) xc nh s n v trong lp


n.
La chn tin bt u vi vic chn mt lut hp l cho vic nh
gi hiu nng ca mng. Sau , ta chn mt s nh cc n v n, luyn v th
mng; ghi li hiu nng ca mng. Sau , tng mt cht s n v n; luyn v
th li cho n khi li l chp nhn c, hoc khng c tin trin ng k so
vi trc.
La chn li, ngc vi la chn tin, bt u vi mt s ln cc
n v trong lp n, sau gim dn i. Qu trnh ny rt tn thi gian nhng
s gip ta tm c s lng n v ph hp cho lp n.
2.2.3.3 Thut ton lan truyn ngc (Back-Propagation)
Cn c mt s phn bit gia kin trc ca mt mng v thut ton hc ca n,
cc m t trong cc mc trn mc ch l nhm lm r cc yu t v kin trc ca
mng v cch m mng tnh ton cc u ra t tp cc u vo. Sau y l m t ca
thut ton hc s dng iu chnh hiu nng ca mng sao cho mng c kh nng
sinh ra c cc kt qu mong mun.
V c bn c hai dng thut ton luyn mng: hc c thy v hc khng c
thy. Cc mng nron truyn thng nhiu lp c luyn bng phng php hc c
thy. Phng php ny cn bn da trn vic yu cu mng thc hin chc nng ca
n v sau tr li kt qu, kt hp kt qu ny vi cc u ra mong mun iu
chnh cc tham s ca mng, ngha l mng s hc thng qua nhng sai st ca n.
Thut ton lan truyn ngc l dng tng qut ca thut ton trung bnh bnh
phng ti thiu (Least Means Square-LMS). Thut ton ny thuc dng thut ton
xp x tm cc im m ti hiu nng ca mng l ti u. Ch s ti u
(performance index) thng c xc nh bi mt hm s ca ma trn trng s v
cc u vo no m trong qu trnh tm hiu bi ton t ra.

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B qua s phc tp v mt ton hc, thun ton c th pht biu n gin nh


sau:

Bc 1: Lan truyn xui cc tnh ton trong mng truyn thng


-

Khi , u ra ca mt lp tr thnh u vo ca lp k tip. Phng


trnh th hin hot ng ny nh sau (trong M l s lp trong mng) :

Cc nron trong lp th nht nhn cc tn hiu t bn ngoi (vi p chnh


l im bt u ca phng trnh hnh 2.14)

u ra ca lp cui cng c xem l u ra ca mng:

Bc 2: Lan truyn li (hay nhy cm) ngc li qua mng


-

Thut ton lan truyn ngc s dng ch s hiu nng l trung bnh bnh
phng li ca u ra so vi gi tr ch. u vo ca thut ton chnh l
tp cc cp m t hot ng ng ca mng:

Trong pi l mt u vo v ti l u ra mong mun tng ng, vi


i=1..Q.
-

Mi u vo a vo mng, u ra ca mng i vi n c em so
snh vi u ra mong mun.Thut ton s iu chnh cc tham s ca
mng ti thiu ha trung bnh bnh phng li.

Bc 3: Cp nht li cc trng s v lch tng ng

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2.3 Nn Tng Android


Android l tn gi ca mt h iu hnh m ngun m da trn nhn linux, ban
u c Google xy dng dnh cho cc thit b di ng nhng hin ti vn ra
TV, HD Player, Tablet). Khi u, Android c pht trin bi cng ty cng tn,
sau ny c Google mua li nhm cnh tranh vi RIM v sau l Apple. Hin ti,
y l nn tng c mc tng trng nhanh v cng l h iu hnh c th phn ln
nht. Vi bn cht l h iu hnh m ngun m, Android hon ton thch hp cho
mc ch nghin cu, hc tp ca sinh vin v nhn lc cng ngh thng tin. chnh
l l do Android c chn hon thnh n ny.
2.3.1 S pht trin ca Android
Lch s pht trin ca h iu hnh ny c th c tm tt nh sau:

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Hnh 2.15 Lch s pht trin Android

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2.3.2 Nhng c im khc bit ca Android


Android c pht trin theo hng m ht mc c th, ngi dng hay cc
nh pht trin c ton quyn thay i giao din, cc thnh phn h thng hay thm ch
l m ngun ca h iu hnh ny ty thch. iu ny khin cho h iu hnh ny tr
nn rt d ty bin nhng km theo l kh lm quen i vi nhng ngi cha c
kinh nghim. Tuy vy, s thnh cng ca n trn th trng phn no khng nh
c cht lng so vi cc i th.

Hnh 2.16 Mt s giao din ca Android

Hnh 2.17 Bn phm ca Android

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2.3.3 My o Dalvik
Trn Android, cc nh pht trin phn mm c th la chn gia ngn ng
C/C++ hoc Java vit ng dng. i vi cc ng dng vit bng Java, Android
thc thi chng thng qua my o tng t JVM trn my bn gi l Dalvik.
Dalvik l mt phn mm m ngun m c thit k v vit bi Dan Bornstein da
trn JVM nhng c ci tin c th hot ng hiu qu trn cc thit b Android.
im khc bit ca Dalvik so vi JVM (hot ng da trn thanh ghi stack),
chnh l vic Dalvik da theo kin trc cc register.
Mc d dng chung ngn ng Java, nhng cc file .class s c dch sang
nh dng .dex nhm lm gim ti a dung lng ca cc chng trnh. Cc hng hay
chui trng nhau s c tinh gim trong file .dex. Cc bytecode ca Java cng s
c chuyn thnh mt b ch th ca Dalvik. iu ny em n s khc bit v dung
lng cho cc file .dex so vi trc khi chuyn i.
Ngoi ra, my o Dalvik cn c ti u ha rt nhiu c kh nng chy cng lc
nhiu instance m khng tn qu nhiu b nh v nng lc x l. Trong cc phin
bn ca Android, Dalvik lin tc c ci tin em n kh nng hot ng hiu
qu hn cho cc ng dng Android.
2.3.4 Kin trc ca Android
M hnh sau th hin mt cch tng qut cc thnh phn ca h iu hnh
Android. Mi mt phn s c c t mt cch chi tit di y.

Hnh 2.18 Kin trc ca Android

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2.3.4.1 Applications (Tng ng dng)


y l tng cao nht ca Android, bao gm cc ng dng chy trn nn my o
Dalvik. Ch yu cc chng trnh trn tng ny u c vit bng ngn ng Java,
mt s t c th km theo native code (C/C++) nu nh c yu cu c bit v tc
x l hay kh nng can thip trc tip phn cng.
2.3.4.2 Application Framework
Bng cch cung cp mt nn tng pht trin m, Android cung cp cho cc nh
pht trin kh nng xy dng cc ng dng cc k phong ph v sng to. Nh pht
trin c t do tn dng cc thit b phn cng, thng tin a im truy cp, cc dch
v chy nn, thit lp h thng bo ng, thm cc thng bo cc thanh trng thi,
v nhiu, nhiu hn na. tng kh nng re-use cc thng tin cn thit, cng nh
kh nng trao i d liu gia cc thnh phn ng dng, Android ra mt khi nim
l Framework, bao gm tt c cc ti nguyn cn thit cho vic trnh by giao din,
cc API ring ca nh sn xut, cch qun l phn cng ca Android
Nh pht trin c th truy cp vo cc API cng mt khun kh c s dng
bi cc ng dng li. Cc kin trc ng dng c thit k n gin ha vic s
dng li cc thnh phn; bt k ng dng c th xut bn kh nng ca mnh v ng
dng no khc sau c th s dng nhng kh nng (c th hn ch bo mt c
thc thi bi khun kh). C ch ny cho php cc thnh phn tng t s c thay
th bi ngi s dng.
C bn tt c cc ng dng l mt b cc dch v v cc h thng, bao gm:

Mt tp hp rt nhiu cc View c kh nng k tha ln nhau dng

thit k phn giao din ng dng nh: gridview, tableview, linearlayout,

Mt Content Provider cho php cc ng dng c th truy xut d

liu t cc ng dng khc (chng hn nh Contacts) hoc l chia s d liu gia cc


ng dng .

Mt Resource Manager cung cp truy xut ti cc ti nguyn khng

phi l m ngun, chng hn nh: localized strings, graphics, and layout files.

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Mt Notification Manager cho php tt c cc ng dng hin th cc

custom alerts trong status bar.

Activity Manager c dng qun l chu trnh sng ca ng dng

v iu hng cc activity.
2.3.4.3 Library (Th vin)
Android bao gm mt tp hp cc th vin C/C++ c s dng bi nhiu
thnh phn khc nhau trong h thng Android. iu ny c th hin thng qua nn
tng ng dng Android. Mt s cc th vin c bn c lit k di y:

System C library: mt BSD-derived trin khai cc th vin h thng

ngn ng C chun, c nhng vo cc thit b da trn h iu hnh Linux.

Media Libraries Da trn PacketVideo's OpenCORE; th vin ny

h tr cho vic chi nhc, quay phim, chp hnh theo cc nh dng file MPEG4,
H.264, MP3, AAC, AMR, JPG, v PNG

Surface Manager Qun l truy cp n cc h thng con hin th

cng nh cc lp ha 2D, 3D t tng ng dng.

LibWebCore Th vin c dng to nn thnh phn webview

trong Android v c th nhng c vo nhiu ng dng.

SGL Th vin h tr ha 2D.

3D libraries Th vin ha 3D (ch yu l OpenGL ES.

FreeType th vin render font ch.

SQLite Mt c s d liu nh c dng cho cc thit b cm tay c

b nh hn ch. SQLite khng c quan h nh cc c s d liu khc.


2.3.4.4 Android Runtime (Mi trng thc thi)
Android bao gm mt tp hp cc th vin c bn m cung cp hu ht cc
chc nng c sn trong cc th vin li ca ngn ng lp trnh Java. Tt c cc ng
dng Android u chy trong tin trnh ring. My o Dalvik c vit cho mt
thit b c th chy nhiu my o hiu qu. Cc VM Dalvik thc thi cc tp tin thc
thi Dalvik (dex). nh dng c ti u ha cho b nh ti thiu. VM l da trn
register-based, v chy cc lp c bin dch bi mt trnh bin dch Java

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chuyn i thnh cc nh dng dex. Cc VM Dalvik da vo nhn Linux cho cc


chc nng c bn nh lung v qun l b nh cp thp.
2.3.4.5 Linux Kernel
y l nn tng c bn nht ca h iu hnh Android, m nhim vai tr giao
tip phn cng, iu khin cc chc nng c bn nht ca thit b v cung cp cc tnh
nng thit yu nh qun l b nh, qun l lung, kt ni mng bng hng lot cc
driver do nh sn xut vit cho thit b ca h.
2.3.5 Cc thnh phn trong mt d n ng dng Android
2.3.5.1 AndroidManifest.xml
Trong bt k mt d n Android no khi to ra u c mt file
AndroidManifest.xml, file ny c dng nh ngha cc mn hnh s dng, cc
quyn cng nh cc giao din cho ng dng. ng thi n cng cha thng tin v
phin bn SDK cng nh mn hnh chnh s chy u tin.
File ny c t ng sinh ra khi to mt d n Android. Trong file manifest
bao gi cng c 3 thnh phn chnh l: application, permission v version.
Di y l ni dung ca mt file AndroidManifest.xml

Hnh 2.19 Kin trc file XML

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Application
Th <application>, bn trong th ny cha cc thuc tnh c nh
ngha cho ng dng Android nh:

android:icon = drawable resource y t


ng dn n file icon ca ng dng khi ci t. VD:
android:icon = @drawable/icon.

android:name = string thuc tnh ny t


tn cho ng dng Android. Tn ny s c hin th ln mn
hnh sau khi ci t ng dng.

android:theme = drawable theme thuc tnh


ny t theme cho ng dng. Cc theme l cc cch hin
th giao din ng dng.
Ngoi ra cn nhiu thuc tnh khc
Permission
Bao gm cc thuc tnh ch nh quyn truy xut v s dng ti
nguyn ca ng dng. Khi cn s dng mt loi ti nguyn no th
trong file manifest ca ng dng cn phi khai bo cc quyn truy xut
nh sau:
<uses-permission
android:name="android.permission.READ_PHONE_STATE"/>
<uses-permission
android:name="android.permission.ACCOUNT_MANAGER"/>
<uses-permission
android:name="android.permission.VIBRATE" />
<uses-permission
android:name="android.permission.CALL_PHONE"/>

SDK version

Th xc nh phin bn SDK c khai bo ch ra phin bn SDK


thp nht c th s dng, nh sau:
<uses-sdk android:minSdkVersion="7" />.
2.3.5.2 Activity
Activity c th c xem nh mt window trn mi trng Windows ph bin
nh hin ti. Ti mi thi im ch c duy nht 1 Activity c th ghi nhn cc thao tc
trn mn hnh cm ng t ngi dng, cc activity khc u c t vo trng thi
ch hoc b xa khi b nh. Khi ngi dng kt thc phin lm vic vi Activity
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no, cc activity ang xp hng pha sau s c y ln u tr thnh Running


Activity. Cu trc ny c gi l Activity Stack.

Hnh 2.20 Activity Stack

Mt Activity ch yu c 3 chu k chnh sau:


-

Active hoc running: Khi Activity l c chy trn mn hnh. Activity


ny tp trung vo nhng thao tc ca ngi dng trn ng dng.

Paused: Activity l c tm dng (paused) khi mt tiu im (focus)


nhng ngi dng vn trng thy. C ngha l mt Activity mi trn
n nhng khng bao ph y mn hnh. Mt Activity tm dng l cn
sng nhng c th b kt thc bi h thng trong trng hp thiu vng
nh.

Stopped: Nu n hon ton bao ph bi Activity khc. N vn cn


trng thi v thng tin thnh vin trong n. Ngi dng khng thy n
v thng b loi b trong trng hp h thng cn vng nh cho tc v
khc.

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40 | T r a n g

Ba chu k ca Activity c th hin r hn bng biu nh hnh sau:

Hnh 2.21 Vng i ca mt Activity

2.4 Th Vin X L nh OpenCv


2.4.1 Vi nt v Computer Vision
Computer Vision (hay CV) l mt phng thc hay phng cch c dng
chuyn ha cc d liu hnh nh dng tnh hay cc on video t camera thnh mt
dng nhn thc hay c t nh xe my, c 3 chic xe my ang chy, mt
tri ang ln Vic nhn thc ny c v rt d dng vi con ngi, nhng thc cht
li khng h n gin trong th gii s. Bi, thc cht, khi x l hnh nh, no ngi
thc hin hng lot cng on phn tch, x l, ti to, lin kt cc lung thng tin
khc nhau i n kt lun cui cng v s vt. Cc cng on ny c thc hin
hon ton nh vo cc c quan c th ca v no, khng cn s can thip ca con
ngi.
Nhng, i vi my tnh, tt c cc c quan trn u khng tn ti, tt c
nhng g my tnh c th nhn bit v x l l cc tn hiu s. Cc hnh nh khi
chuyn v nh dng s s l mt ma trn cc con s, khng c bin gii r rng,
khng c tri thc no v hnh nh trong qu kh, khng c kh nng lin h hay
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41 | T r a n g

lm r nt mt chi tit no ca nh, cc lp trnh vin phi thc hin tt c nhng


vic ny bng tay. Thm vo , d liu hnh nh trn my tnh nhn c l nhng
d liu b nhiu v nh hng rt nhiu t nhng s thay i rt nh nh thay i
sng, thay i phng nn, hay thay i gc nhn i vi s vt. Chnh nhng iu
ny khin cho vic nhn dng hnh nh trn my tnh tr nn rt kh khn.

Hnh 2.22 V d v Computer Vision

Tuy khng d dng, nhng nh c b dy lch s v k tha, Computer Vision


cng t c mt s bc tin nht nh vi mt s b th vin x l hnh nh hin
ti, nhng vn cn rt xa so vi mc tiu cui cng. Tuy vy, tng lai ca CV vn rt
ti sng.
2.4.2 Mt s th vin x l nh tiu biu
Nhm mc ch gim nh gnh nng cho cc lp trnh vin trong cc tc v x
l hnh nh, cc th vin Computer Vision ra i. Nh cc th vin ny, lp trnh
vin c th trnh c vic phi vit li t nhng hm c bn nht, m ch cn tp
trung vo vic s dng chng sao cho hiu qu nht cho mc ch ca mnh. Mt s
th vin x l hnh nh c th k n nh sau:

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VXL(http://vxl.sourceforge.net/)
y l th vin x l hnh nh mc c bn, chuyn v cc thao tc chnh sa
hnh nh nh i mu sc, thay i kch thc nh VXL c xy dng trn nn
tng ngn ng ANSI/ISO C++ nhm tng kh nng tng thch v tc hot ng
ca tc v x l nh. Hin ti VXL xut hin trn Linux, Windows v Mac OS
nhng vn cha xut hin trn nn tng di ng no.
Camellia (http://camellia.sourceforge.net/)
B th vin ny c vit hon ton trn ngn ng C v c ti u ha rt
nhiu nhm em n tc hot ng thi gian thc. Camellia xut hin trn c
Linux, Windows, Mac OS nhng ch yu h tr cho ngn ng Ruby v cha c k
hoch xut hin trn nn tng di ng no.
OpenVIDIA
(http://openvidia.sourceforge.net/index.php/OpenVIDIA)
OpenVIDIA l b th vin x l hnh nh c nVidia khi xng nhm mc
ch tn dng sc mnh x l vn rt d d t cc GPU (mnh v x l song song).
B th vin ny tn dng rt nhiu cng ngh ca nVidia nh CUDA, NPP v h tr
cc th vin m ngun m nh OpenGL, OpenCL Nh tn dng kh nng x l
mnh m ca GPU (vn mnh hn nhiu so vi CPU), b th vin ny cho tc x
l nhanh hn kh nhiu so vi cc gii php hin ti. B th vin ny h tr y
cc gii php nhn dng hnh nh, x l hnh nh thi gian thc
OpenVIDIA hin c cc gii php phn mm xut hin trn nn tng Tegra
2 ca di ng, nhng nhm khng chn b th vin ny v n khng th ph bin rng
ri ln cc nn tng khng s dng GPU ca nVidia.
NCV Nokia Computer Vision
(http://research.nokia.com/page/221)
B th vin x l hnh nh c Nokia xy dng dnh ring cho h iu hnh
Symbian ca mnh, cung cp cc kh nng x l hnh nh nh thay i kch thc,
thay i khung hnh, dng hnh, dng giao din ngi dng nhng li thiu i cc
hm mang tnh cn thit cho mc tiu ca ti nhn dng hnh nh. B th vin
ny cng khng h tr cc nn tng khc nh Android, iOS.
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43 | T r a n g

Nhm tham kho qua rt nhiu cc th vin x l nh khc nhau, nhng hu


ht u b gii hn kh nng hot ng trn nn tng di ng - y l Android.
Trong qu trnh tm ti, nhm ch pht hin c OpenCV l b th vin h tr y
nht cho Android, ng thi cng c sc mnh x l khng h thua km cc th
vin nu. Nn, trong phm vi n ln ny, nhm chn thc hin da trn
OpenCV.

Hnh 2.23 Tc x l ca OpenCV so vi LTI v VXL

2.4.3 Th vin OpenCV


OpenCV l mt b th vin x l hnh nh m ngun m c host trn
http://SourceForge.net/projects/opencvlibrary. B th vin c vit trn ngn ng
C/C++ nh n c kh nng hot ng trn gn nh mi nn tng nh Linux,
Windows v MacOS. Ngoi ra, nh s ng h nhit tnh ca cng ng m ngun m,
OpenCV cn c kh nng hot ng trn cc nn tng khc nh Java, nhng,... v c
bit l Android.

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44 | T r a n g

OpenCV ban u c thit k cho cc thit b in ton vi sc mnh rt ln,


c ti u ha trn nn ngn ng C v kh nng tn dng cc b vi x l a lung
a nhn nhm hin thc ha cc ng dng x l hnh nh thi gian thc. Do , khi
c chuyn ln cc nn tng di ng, b th vin ny b thuyn gim kh nhiu sc
mnh so vi phin bn gc, nhng vn l mt trong nhng b th vin tt nht cho th
gii mobile.
2.4.3.1 Lch s ca OpenCV
OpenCV c mt khi u kh khim nhng Media Lab MIT, ch l mt b
th vin c chuyn tay gia cc sinh vin, ng vai tr l mt nn tng ban u cho
cc ng dng x l hnh nh ca h, h khng mt thi gian vit li cc hm mang
tnh cn bn m c th dnh nhiu thi gian tp trung vo cc chc nng cao cp
hn. B th vin ny c b phn nghin cu ca Intel ch v u t pht trin.
Tnh t khi bn th nghim Alpha u tin ca OpenCV xut hin nm 1999, n nay
b th vin ny c hn 500 hm chc nng bao trm hu nh ton b cc lnh vc
x l hnh nh nh theo di sn phm cng nghip, cc hnh nh y t, camera an ninh,
giao din ngi dng, tinh chnh camera, robotic Ngoi ra, OpenCV cn c km
theo th vin Machine Learning (MLL) nhm tng cng kh nng hc v nhn dng
hnh nh chnh xc hn.

Hnh 2.24 Lch s pht trin ca OpenCV

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45 | T r a n g

Do bn cht l mt b th vin m ngun m, nhng giy php ca OpenCV


li cho php ngi dng c th s dng mt phn hay ton b m ngun ca n cho
cc ng dng c thu ph ca h m khng phi ng gp g li cho cng ng, k c
vic cng b m ngun ca h. Chnh nh iu ny nn OpenCV nhn c rt nhiu
s quan tm ca cc cng ty phn mm ln nh IBM, Intel, Microsoft, v hin ti
lng thnh vin ca project ny ln n hn 20,000 ngi trn khp cc chu lc.
2.4.3.2 Cu trc ca OpenCV
OpenCV l mt b th vin rt ln, c cu trc thnh 5 phn chnh, trong
c 4 phn c phn chia nh hnh 2.25 di y. Trong , CV cha cc hm x l
hnh nh cn bn v cc thut ton nhn dng cp cao; MLL l b th vin phc v
cho ngnh my hc. HighGUI cha cc lnh nhp xut v hm truy xut hnh nh,
video; CXCore cha cc cu trc c bn, cc hm v v cc hm dng chung cho ton
b th vin.
Trong hnh bn di, khng bao gm CvAux, thnh phn cha cc thut ton
cn trong giai on th nghim hoc cc hm b ngng pht trin. Trong CvAux,
ngi dng c th tm thy kh nhiu hm c kh nng s xut hin chnh thc trong
OpenCV trong tng lai. C th k n nh:
-

Nhn dng c ch t camera

c t cc texture (vn b mt)

Theo di mt v ming

Theo di 3D

Tm khung xng ca vt th

Hnh 2.25 Cu trc th vin OpenCV

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46 | T r a n g

2.4.3.3 OpenCV trn Android


Hin ti, OpenCV cung cp sn cc wrapper dnh cho h iu hnh Android
trn trang ch ca mnh (http://opencv.willowgarage.com/wiki/Android) v cho ngi
dng chn la gia vic s dng th vin bin dch sn hay dng trc tip m
ngun ca OpenCV. Nu khng c yu cu c bit v cc tnh nng hay ti u thm
na cc hm ca OpenCV, la chn u tin s d dng hn cho i a s ngi
dng.
Sau khi ti v ci t OpenCV ln mi trng lp trnh cho Android, ngi
dng c th s dng cc tnh nng c bit ca b th vin ny mt cch nhanh
chng.

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47 | T r a n g

CHNG 3 :

NG DNG NHN DNG BIN BO GIAO THNG

Chng ny trnh by cc vn sau:


3.1 M t bi ton
3.2 M hnh gii quyt bi ton
3.3 Thit k chng trnh
3.4 Thc nghim

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

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Hnh 3.1 Bi ton nhn dng bin bo giao thng

3.1.2 i tng ca bi ton


i tng ca bi ton l cc bin bo giao thng ca Vit Nam. Trong gii
hn ca lun vn ny chng ta s xt ti cc bin bo giao thng ng b. S lng
bin bo giao thng ng b ca Vit Nam khong hn 200 bin bo v chia lm
nhiu dng:

Bin bo cm ng b Vit Nam: Nhm bin bo cm gm c


39 kiu c nh s th t t bin s 101 n bin s 139 nhm
bo iu cm hoc hn ch m ngi s dng ng b phi
tuyt i tun theo. Cc bin bo loi ny thng c hnh dng
trn vi vin bao xung quanh mu c trng, c bit c mt
s bin bo khng thuc dng trn nhng s lng khng ng
k.

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Hnh 3.2 Mt s mu bin bo cm

Bin hiu lnh ng b Vit Nam: Nhm bin hiu lnh gm


c 9 kiu c nh s th t t bin s 301 n bin s 309
nhm bo cho ngi s dng ng bit hiu lnh phi thi hnh.
Cc bin bo loi ny thng c hnh dng trn vi nn mu
xanh c trng, c bit c mt s bin bo c ng k sc ct
ngang.

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50 | T r a n g

Hnh 3.3 Mt s mu bin bo hiu lnh

Bin bo nguy him ng b Vit Nam: Bin bo nguy him


gm 46 kiu c nh s th t t bin s 201 n bin s 246
nhm bo cho ngi s dng ng b bit trc tnh cht ca s
nguy him trn ng c bin php phng nga, x tr. Cc
bin bo loi ny thng c hnh dng tam gic vi vin bao
xung quanh mu c trng, nn vng, c bit c mt s bin
bo khng phi hnh tam gic.

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Hnh 3.4 Mt s mu bin bo nguy him

Ngoi cc dng bin bo trn th cn c bin ch dn hnh ch nht, bin ph


ng b, vch k ng V tnh cht phc tp ca cc loi bin bo ny m lun
vn s khng nghin cu n. Gii hn lun vn ch tp trung vo nhn bit 3 loi
bin bo pha trn.

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3.2 M Hnh Gii Quyt Bi Ton


3.2.1 M hnh tng qut
gii quyt bi ton pht hin v nhn dng bin bo giao thng, nhm
xut m hnh 4 bc chia lm 2 giai on nh sau:

Hnh 3.5 M hnh gii quyt bi ton

Giai on x l nh (Image Processing State):


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

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Giai on tnh ton mng Nron (Neutral Network State):


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

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Cc thut ton c th p dng nng cao cht lng nh bao gm nh lm


mn nh bng thut ton Smooth Gaussian, gim mu (downsample) v tng mu
(upsample) bng Gaussian Pyramid Vic ci t cc gii thut ny s c th vin
x l nh OpenCV h tr.
3.2.3 Pht hin bin bo v trch xut vng c trng
Mc ch ca giai on ny l tm ra c hay khng khu vc c c trng ging
nh m t ca mt bin bo trn nn khung cnh. Sau t d liu ny s lc b ton
b hnh nn, ch trch xut li hnh nh ca mi bin bo.
3.2.3.1 c trng pht hin bin bo
pht hin bin bo chng ta da trn c trng ca bin bo giao thng
Vit Nam
Bin bo cm: thng c hnh dng trn, vin ; c bit
cng c mt s ngoi l nhng khng ng k

Hnh 3.6 Mu bin bo cm

Bin bo nguy him: c dng hnh tam gic, vin , nn


vng; c bit cng c mt s ngoi l nhng khng ng k

Hnh 3.7 Mu bin nguy him

Bin hiu lnh: c dng hnh trn, nn xanh; c bit cng c


mt s ngoi l nhng khng ng k

Hnh 3.8 Mu bin hiu lnh

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Tm li c trng dng nhn dng bin bo l i tng c vin bao


mu hoc mu xanh, dng hnh hc l hnh trn (hoc eclipse nu lch gc
nhn), hnh tam gic. Ngoi ra nhng bin bo hng dn dng hnh ch nht,
hay cc bin bo c tnh c bit qu cao s khng c nghin cu trong kha
lun ny.

Hnh 3.9 Mu mt s bin bo qu c bit

3.2.3.2 Phng php pht hin bin bo


Da trn cc c trng ca bin bo, nhm s dng phng php pht hin
bin Canny kt hp vi c trng mu tm ra bin nh ca bin bo, sau
dng c trng nhn dng hnh hc gi li chnh xc cc bin nh ng, loi
b cc bin gi.
3.2.3.2.1 Pht hin bin nh bng Canny:
Chi tit thut ton Canny c trnh by trong phn l thuyt x
l nh. Chng ta c th hiu n gin v phng php Canny nh sau:
Phng php canny s dng mt ngng mu (threshold)
nht nh cho vic pht hin bin.
Bin nh c hiu l vng nh m c s chnh lch
cng mu r rt.
Cc nh p dng thut ton Canny u l nh c chuyn
sang mc xm (Gray scale) vi cng t 0 - 255

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Hnh 3.10 nh ban u thu t camera

Hnh 3.11 nh sau khi chuyn sang nh mc xm

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Hnh 3.12 nh sau khi dng Canny tm bin

Nhn xt: Khi ch s dng phng php Canny thng thng th


kt qu thu c cha rt nhiu "nhiu", s gy kh khn cho vic tm ra
bin nh ca bin bo sau ny nu ch da vo c trng hnh hc ca bin
bo (hnh trn hay hnh tam gic).
3.2.3.2.2 Kt hp c trng mu vi phng php Canny:
Nhn thy 3 loi bin bo cn pht hin u c mu c trng l
vin hoc xanh nc bin, v th ta c th li dng im ny loi bt
cc chi tit nhiu trn hnh.
tng ca phng php ny nh sau:
Ta xy dng mt mt n (mask) mu (hoc xanh) c kch
thc bng nh gc bng cch loi b tt c cc im nh
khng thuc di mu (hoc xanh) khi chuyn nh gc
thnh nh mc xm.
lp mt n mu, chng ta chuyn nh v x l trn khng
gian mu HSV

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Hnh 3.13 Khng gian mu HSV

Hnh 3.14 Khong gi tr ng vi di mu

Hnh 3.15 Khong gi tr ng vi di mu xanh

Vi mi gi tr H, S, V ta lp mt mask tng ng da theo


di mu xanh hay . Duyt qua tng pixel ca nh. Pixel no
nm trong mask, ta gi nguyn gi tr mc xm (gray scale)
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khi chuyn qua nh mc xm, ngc li th gn cho gi tr


mc xm l 0.
Khi dng php ton And dnh cho 3 mt n ca H, S, V trn
th kt qu thu c chnh l nh mc xm ca nh gc nhng
c lc li ch cn nhng im nh thuc min gi tri
mu hoc xanh ban u.

Hnh 3.16 nh sau khi lc qua mt n mu

Vic lp khong gi tr cho H, S, V khi lm mt n c ngha


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

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Hnh 3.17 nh sau khi dng Canny pht hin bin

Nhn xt: Khi kt hp dng mt n mu lc im nh sau


mi p dng phng php Canny tm bin, ta thy r rng kt qu c
ci thin hn rt nhiu, cc bin tm c c chnh xc cao hn v nhiu
t hn so vi nu ch dng Canny n thun.
3.2.3.2.3 Dng c trng hnh hc loi b bin gi:
Sau khi c nh bin thu c t vic p dng phng php Canny,
chng ta s tin hnh loi b cc bin gi.
Trong x l nh, c mt thut ng gi l Contour (ng vin), c
th hiu tm hiu l ng vin bao quanh khp kn.
loi b cc bin gi, ta tin hnh duyt qua ln lt tt c cc
Contour thu c t phng php Canny (hm FindContour c
OpenCV h tr). Vi mi Contour ny ta kim tra c trng hnh hc ca
n xc nh xem c phi l bin ca bin bo hay ko?
-

Tnh cht tam gic: Kim tra xem contour c phi c to


thnh t 3 vector hay khng ?

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61 | T r a n g

Tnh cht hnh trn (hoc eclipse): Tnh ton bn knh trc
ln, trc nh, din tch ca Contour, t suy ra gi tr PI.
Nu Pi ~3.14 th tha mn tnh cht hnh trn.

Kt thc qu trnh duyt, ta loi b tt c cc Contour khng tha


mn c trng hnh hc, nhng Contour cn li chnh l bin ca
cc bin bo.
3.2.3.3 Trch xut vng c trng (ROI Extraction)
Sau khi c c cc bin ca cc bin bo, ta xc nh cc hnh ch nht bao
ng ngoi tip cc bin ny. Trch xut cc khu vc tng ng vi cc hnh ch nht
ny trn nh gc, loi b tt c cc im mu nm ngoi bin ca bin bo, sau
chuyn nh mu sang nh mc xm.

Hnh 3.18 Kt qu ca ROI Extraction

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Trng Giang

62 | T r a n g

3.2.4 X l trc khi nhn dng (Pre-recognized)


y l qu trnh chng ta bin i d liu nh thu bc ROI extraction thnh
mt kiu d liu hp l, lm input u vo cho mng nron.
-

Sau khi c d liu nh, chng ta thay i kch thc nh v cng kch
thc mu 30*30 pixel

Lu rng khi nh cn dng nh mu th mi pixel cha thng tin ca


3 mu R, G, B.

Ta c cng thc chuyn nh RGB thnh nh mc xm (Gray scale) nh


sau:

Gray = (0.299*R + 0.587*G + 0.114*B)


-

D liu chng ta s cung cp cho input ca mng noron giai on sau


s l mt dy 63 tham s, i din cho d liu ca bc nh, trong :
o 3 tham s i din cho gi tr trung bnh ca ba mu R, G, B ca
bc hnh

bi,j i din cho gi tr mu pixel ti v tr i*j


o 30 tham s i din cho cng sng ca nh Gray theo chiu
dc

bi,j i din cho gi tr cng xm ti v tr i*j


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Trng Giang

63 | T r a n g

o 30 tham s i din cho cng sng ca nh Gray theo chiu


ngang

bi,j i din cho gi tr cng xm ti v tr i*j


o Trong T l i din cho gi tr trung bnh ca cng sng
ca nh mc xm

Mng 63 phn t ny s c chuyn cho bc k tip, cng l giai on cui;


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

Mng noron c nhm la chn y l mng truyn thng MLP


(Multi layer Perception).

Gii thut hun luyn mng l gii thut lan truyn ngc li Backpropagation

Hm activation l hm sigmoid.

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Trng Giang

64 | T r a n g

Mng gm c 3 layer:
o Input Layer: S noron l 63, i din cho 63 tham s th hin
ca bc nh
o Hidden layer: lp n, lp gia ca mng. S noron lp ny
c xc nh bng thc nghim o hiu nng ca mng
o Output Layer: S noron bng chnh lng bin bo m mng c
th nhn din, v d: output c 5 noron th mng ch c th nhn
din 5 bin bo.

Hnh 3.19 Cu trc mng noron nhn dng bin bo

3.2.5.2 Tp hun luyn


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

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Trng Giang

65 | T r a n g

Hnh 3.20 Tp d liu mu hun luyn mng

Hnh 3.21 Tp bin bo chun

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Trng Giang

66 | T r a n g

3.3 Thit K Chng Trnh


3.3.1 Yu cu phn mm
3.3.1.1 Yu cu chc nng
Tn yu cu

STT

M t

Ghi ch

Ngi dng s dng ch


1

Pht hin bin bo bng tay

chp hnh

pht

hin bin bo
Ngi dng s dng ch
2

Pht hin bin bo t ng

quay video ng
dng t pht hin bin
bo
ng dng nhn dng cc

Nhn dng bin bo

bin bo c pht hin


theo yu cu ca ngi
dng

Thay i ch pht hin


bin bo

Thay i gia ch
pht hin bng tay v
pht hin t ng
Thay i kch thc hnh Ch h tr

nh thu c qua camera

Zoom hnh nh

trong ch
pht hin bin
bo bng tay

Bng3.1 Danh sch yu cu chc nng

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Trng Giang

67 | T r a n g

3.3.1.2 Yu cu hiu qu
p dng vi thit b di ng :
-

Ci t h iu hnh Android 2.2 tr ln.

Chp ARM tc 600MHZ tr ln.

B nh 512MB tr ln

Mn hnh phn gii 3.2 tr ln

Camera 5 Megapixel tr ln
Chc nng

STT

Tc x l

Pht hin bin bo bng tay

Ngay lp tc

Pht hin bin bo t ng

10Fps (Frame/giy)

Nhn dng bin bo

Ngay lp tc

Thay i ch pht hin


bin bo

Ghi ch

Ngay lp tc
Tc Zoom ch
yu ph thuc vo

Zoom hnh nh

3Fps (Frame/giy)

kh nng h tr
ca phn cng
in thoi

Bng3.2 Danh sch yu cu hiu qu

3.3.1.3 Yu cu tng thch


ng dng chy n nh trn cc thit b :
-

Ci t h iu hnh Android 2.2 tr ln.

Chp ARM tc 600MHZ tr ln.

B nh 512MB tr ln

Mn hnh phn gii 3.2 tr ln

Camera 5 Megapixel tr ln

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Trng Giang

68 | T r a n g

3.3.1.4 Yu cu tin dng


Chc nng

STT

Mc d s dng

Pht hin bin bo bng tay

Pht hin bin bo t ng

Nhn dng bin bo

Ghi ch

Thao tc cm ng
trn mn hnh
Khng cn thao tc
Thao tc cm ng
trn mn hnh

Thay i ch pht hin Thao tc cm ng

bin bo

trn mn hnh
Thao tc cm ng

Zoom hnh nh

trn mn hnh

Ty thuc phn
cng h tr hay
khng

Bng3.3 Danh sch yu cu tin dng

3.3.1.5 Yu cu tin ha
STT

Chc nng

Gi tr cn thay i

Ghi ch
nhn bit bin bo
mi, d liu cn cho

Lu tr v pht hin Ma trn trng s ca mng noron hc


bin bo mi

mng noron

iu chnh li ma trn
trng s cho thch
hp

Bng3.4 Danh sch yu cu tin ha

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Trng Giang

69 | T r a n g

3.3.2 Thit k Use-Case


3.3.2.1 S Use-case tng qut

Hnh 3.20 S Use-case tng qut

3.3.2.2 Danh sch cc Actor


STT

ngha/Ghi ch

Tn Actor
Ngi dng

Ngi trc tip tng tc vi ng dng, c nhu cu


tra cu thng tin v bin bo
Bng3.5 Danh sch cc Actor

3.3.2.3 Danh sch cc Use-Case


STT
1

Tn Use-Case
Pht hin bin bo bng tay

ngha/Ghi ch
Ngi dng t iu chnh camera, la
chn khu vc hnh nh c bin bo
giao thng sau chp hnh ng

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Trng Giang

70 | T r a n g

dng c th pht hin bin bo


2

Pht hin bin bo t ng

Ngi dng khng cn phi chp hnh


m ch cn dng camera quay hnh
khung cnh, ng dng t ng pht
hin khu vc c bin bo giao thng

Sau khi pht hin bin bo, nu ngi

Nhn dng bin bo

dng yu cu, ng dng s nhn dng


bin bo c ngi dng la chn
4

Thay i ch

Ngi dng la chn thay i ch


gia pht hin bng tay v pht hin t
ng

Zoom hnh nh

Cho php ngi dng thay i kch


thc hnh nh thu c qua camera
Bng3.6 Danh sch cc Use-Case

3.3.2.4 c t Use-Case
3.3.2.4.1 c t Use case Pht hin bin bo bng tay:
a. Tm tt
-

Use case cho php ngi dng c th t pht hin bin


bo giao thng bng tay

b. Dng s kin
-

Dng s kin chnh:


o Dng camera, la chn khung cnh mun pht
hin bin bo.
o Click nt chp hnh.

Dng s kin khc:


o Khng c.

c. Cc yu cu c bit
-

Khng c.

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Trng Giang

71 | T r a n g

d. Trng thi h thng khi bt u thc hin Use-case


-

ng dng ang ch pht hin bin bo bng tay.

e. Trng thi h thng sau khi thc hin Use-case


-

ng dng thng bo kt qu ca vic pht hin bin


bo

Cc khu vc bin bo (nu c) s c khoanh vng

f. im m rng
-

Khng c.

3.3.2.4.2 c t Use case Pht hin bin bo t ng:


a. Tm tt
-

Use case cho php ngi dng c th t pht hin bin


bo giao thng mt cch t ng.

b. Dng s kin
-

Dng s kin chnh:


o Dng camera, qut qua khung cnh cha bin
bo giao thng.
o ng dng t ng pht hin khu vc c bin
bo.

Dng s kin khc:


o Khng c.

c. Cc yu cu c bit
-

Khng c.

d. Trng thi h thng khi bt u thc hin Use-case


-

ng dng ang ch pht hin bin bo t ng.

e. Trng thi h thng sau khi thc hin Use-case


-

ng dng t ng khoanh vng khu vc c bin bo


nu c.

f. im m rng
-

Khng c.

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Trng Giang

72 | T r a n g

3.3.2.4.3 c t Use case Nhn dng bin bo:


a. Tm tt
-

Use case cho php ngi dng nhn dng bin bo


c pht hin.

b. Dng s kin
-

Dng s kin chnh:


o La chn khu vc c bin bo c pht hin.
o ng dng t ng nhn dng bin bo v thng
bo kt qu.

Dng s kin khc:


o Thng bo trng hp bin bo khng c trong
c s d liu mu ca ng dng.

c. Cc yu cu c bit
-

Khng c.

d. Trng thi h thng khi bt u thc hin Use-case


-

H thng pht hin khu vc bin bo v ang sn


sng cho vic nhn dng.

e. Trng thi h thng sau khi thc hin Use-case


-

Sn sng cho vic nhn dng bin bo khc.

Sn sng cho vic quay tr li ch pht hin bin


bo.

f. im m rng
-

Khng c.

3.3.2.4.4 c t Use case Thay i ch :


a. Tm tt
-

Use case cho php ngi dng thay i ch pht


hin bin bo.

b. Dng s kin
-

Dng s kin chnh:


o Kch hot menu la chn ch .

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Trng Giang

73 | T r a n g

o Chn la ch pht hin bin bo m ngi


dng mun.
-

Dng s kin khc:


o Khng c.

c. Cc yu cu c bit
-

Khng c.

d. Trng thi h thng khi bt u thc hin Use-case


-

H thng khng ang ch nhn dng.

e. Trng thi h thng sau khi thc hin Use-case


-

H thng ch pht hin bin bo m ngi dng


la chn v sn sng lm vic.

f. im m rng
-

Khng c.

3.3.2.4.5 c t Use case Zoom hnh nh:


a. Tm tt
-

Use case cho php ngi dng thay i kch thc


hnh nh thu c qua camera.

b. Dng s kin
-

Dng s kin chnh:


o Thay i kch thc hnh bng vic tng tc vi
thanh ko trn mn hnh.

Dng s kin khc:


o Hnh nh khng thay i kch thc nu camera
khng h tr zoom.

c. Cc yu cu c bit
-

Thit b phn cng h tr zoom.

d. Trng thi h thng khi bt u thc hin Use-case


-

H thng ang ch pht hin bin bo giao thng


bng tay.

e. Trng thi h thng sau khi thc hin Use-case


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Trng Giang

74 | T r a n g

Hnh nh thu c c kch thc mong mun theo nhu


cu ca ngi dng.

f. im m rng
-

Khng c.

3.3.3 Thit k s lp (mc phn tch)


3.3.3.1

S lp mc phn tch

Hnh 3.21 S lp mc phn tch

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Trng Giang

75 | T r a n g

3.3.3.2

Danh sch cc lp i tng v quan h

STT

Tn lp/quan h

Loi

ngha/Ghi ch

Input

Public

Lp Input ca mng noron

Hidden

Public

Lp Hidden ca mng noron

Output

Public

Lp Output ca mng noron

IbackPropagation<T>

Public

MLP<T>

Public

CaptureObjectLayer

Public

DetectObjectLayer

Public

NeuralNetwork<T>

Public

Interface bao ng cc chc nng ca


mng noron
Mng noron truyn thng nhiu lp
MLP
Chu trch nhim thu ly d liu t
camera ca thit b
i tng dng pht hin bin bo
Mng noron dng nhn dng bin
bo

Bng3.7 Danh sch cc lp i tng quan h

3.3.3.3

M t chi tit tng lp i tng


3.3.3.3.1 Lp Input:

STT

Tn thuc tnh

Kiu

Truy cp

Value

double

Public

Weights

double[]

Public

preDwt

double[]

Public

ngha/Ghi ch
Gi tr output ca noron
Mng cha trng s ng
vi noron ny
Mng cha trng s trc
khi sa li

Bng3.8 Danh sch thuc tnh lp Input

3.3.3.3.2 Lp Hidden:
STT

Tn thuc tnh

Kiu

Truy cp

InputSum

double

Public

Tng trng s

Bias

double

Public

lch hin ti ca noron

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ngha/Ghi ch

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Trng Giang

76 | T r a n g

lch ca noron trc

preBias

double

Public

Output

double

Public

Gi tr u ra ca noron

Error

double

Public

Gi tr li

Weights

double[]

Public

preDwt

double[]

Public

khi sa li

Mng cha trng s ng


vi noron ny
Mng cha trng s trc
khi sa li

Bng3.9 Danh sch thuc tnh lp Hidden

3.3.3.3.3 Lp Output:
STT

Tn thuc tnh

Kiu

Truy cp

ngha/Ghi ch

InputSum

double

Public

Tng trng s

Bias

double

Public

lch hin ti ca noron

preBias

double

Public

Output

double

Public

Gi tr u ra ca noron

Error

double

Public

Gi tr li

Target

double

Public

Value

Public

lch ca noron trc


khi sa li

Gi tr u ra mong
mun
Kiu tr kiu T tng ng
vi u ra

Bng3.10 Danh sch thuc tnh lp Output

3.3.3.3.4 Lp IbackPropagation<T>:
STT

Tn phng thc

Kiu

Truy cp

ngha/Ghi ch
Lan truyn ngc li v

backPropagate

void

Public

hiu chnh trng s trong


mng

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double

Public

Hm tnh gi tr kch hot


cho noron
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Trng Giang

77 | T r a n g

forwardPropagate

void

Public

recognize

void

Public

initializeNetwork

void

Public

Lan truyn tnh ton trong


mng
Tin hnh nhn dng mt
mu
Khi to mng noron

Bng3.11 Danh sch phng thc lp IbackPropagation<T>

3.3.3.3.5 Lp MLP<T>:
Truy

STT

Tn thuc tnh

Kiu

InputNum

int

Private

S noron lp Input

HiddenNum

int

Private

S noron lp Hidden

OutputNum

int

Private

S noron lp Output

learningRate

double

Private

T l thay i trng s

alpha

double

Private

cp

ngha/Ghi ch

Thng s alpha ca mng


noron
Gi tr tnh ton c gn

OutputValueHight

double

Private

ng vi gi tr mong
mun nht

MatchedHigh

Private

Gi tr kiu T tng ng
vi OutputValueHight
Gi tr tnh ton c gn

OutputValueLow

double

Private

ng xp th 2 so vi gi
tr mong mun nht

MatchedLow

Private

10

InputLayer

Input[]

Private

11

HiddenLayer

Hidden[]

Private

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Gi tr kiu T tng ng
vi OutputValueLow
Mng cha cc noron lp
Input
Mng cha cc noron lp
Hidden
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Trng Giang

78 | T r a n g

12

OutputLayer

Output<T>[]

Private

Mng cha cc noron lp


Output

Bng3.12 Danh sch thuc tnh lp MLP<T>

STT

Tn phng thc

Kiu

Truy cp

reset

void

Public

getMatchedHigh

Public

getOutputValueHight

double

Public

getMatchedLow

Public

getOutputValueLow

double

Public

ngha/Ghi ch
Khi to li cc tham s
ca mng
Ly kt qu kiu T gn
chnh xc nht
Ly kt qu gn chnh xc
nht
Ly kt qu kiu T gn
chnh xc th hai
Ly kt qu gn chnh xc
th hai

Bng3.13 Danh sch phng thc lp MLP<T>

3.3.3.3.6 Lp CaptureObjectLayer:
Truy

STT

Tn thuc tnh

Kiu

mCamera

Camera

Private

Camera ca thit b

mFrameWidth

int

Private

rng ca Frame hnh

mFrameHeight

int

Private

cao ca Frame hnh

mFrame

Byte[]

Private

D liu thu t camera

cp

ngha/Ghi ch

Bng3.14 Danh sch thuc tnh lp CaptureObjectLayer

STT

Tn phng thc

Kiu

Truy cp

processFrame

Bitmap

Public

run

Void

Public

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ngha/Ghi ch
X l nh thu c t
camera
Khi chy lung ph song
song vi lung chnh, lin
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Trng Giang

79 | T r a n g

tc ly d liu t camera
3

getFrameWidth

int

Public

getFrameHeight

int

Public

Ly rng ca Frame
hnh
Ly cao ca Frame
hnh

Bng3.15 Danh sch phng thc lp CaptureObjectLayer

3.3.3.3.7 Lp DetectObjectLayer:
Truy

STT

Tn thuc tnh

Kiu

image

Bitmap

Private

signList

List<Mat>

Private

boxList

List<Rect>

Private

cp

ngha/Ghi ch
Cha hnh thu t camera
x l
Danh sch cc bin bo
tm c
Danh sch cc vin bao
ch nht ca bin bo

Bng3.16 Danh sch thuc tnh lp DetectObjectLayer

Truy

STT

Tn phng thc

Kiu

getContoursRedMask

List<Mat>

Public

getContoursBlueMask

List<Mat>

Public

detectRedTriangleSign

void

Public

detectBlueCircleSign

void

Public

detectRedCircleSign

void

Public

Tm cc bin bo trn

getSignList

List<Mat>

Public

Ly danh sch bin bo

getBoxList

List<Rect>

Public

Ly sanh sch ng bao

GVHD: ThS. Phan Nguyt Minh

cp

ngha/Ghi ch
Ly ng bin sau khi
lc mt n mu
Ly ng bin sau khi
lc mt n mu xanh
Tm cc bin bo tam
gic
Tm cc bin bo trn
xanh

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Trng Giang

80 | T r a n g

ch nht ca bin bo
Bng3.17 Danh sch phng thc lp DetectObjectLayer

3.3.3.3.8 Lp NeuralNetwork<T>:
Truy

STT

Tn thuc tnh

Kiu

neuralNet

MLP<T>

Private

Mng MLP

maximumError

double

Private

Gii hn ti a ca li

maximumIteration

int

Private

TrainingSet

Hashtable<T,
double[]>

cp

Public

ngha/Ghi ch

S vng lp hun luyn


mng
Tp d liu hun luyn
mng

Bng3.18 Danh sch thuc tnh lp NeuralNetwork<T>

Truy

STT

Tn phng thc

Kiu

train

void

Public

Hun luyn mng

recognize

Void

Public

Nhn dng mt u vo

saveNetwork

void

Public

Lu cu hnh mng

loadNetwork

void

Public

Load cu hnh mng

cp

ngha/Ghi ch

Bng3.19 Danh sch phng thc lp NeuralNetwork<T>

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Trng Giang

81 | T r a n g

3.3.4 Thit k d liu


Do tch cht ca ng dng l phn mm nghin cu v gii thut pht hin v
nhn dng bin bo giao thng nn c s d liu ng dng s dng cn c phn n
gin.
Nhm s dng mt file XML lu cu trc m, tn, ni dung v hnh nh ca
bin bo giao thng.

Hnh 3.22 Cu trc file d liu XML

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Trng Giang

82 | T r a n g

3.3.5 Thit k giao din


3.3.5.1

Danh sch cc mn hnh

STT

Tn mn hnh

ngha/Ghi ch

Mn hnh chnh

Giao din chnh, cho php ngi dng chn la


thay i ch pht hin bin bo

Pht hin bin bo bng tay

Ch pht hin bin bo bng tay, cho php


ngi dng t la chn khung cnh v chp hnh

Pht hin bin bo t ng

Ch t ng pht hin bin bo khi qut


camera qua khung cnh.

Mn hnh kt qu detect

Hin th kt qu pht hin c, khoanh vng cc


bin bo

Mn hnh nhn dng

Hin th kt qu nhn dng bin bo theo nhu cu


Bng3.20 Danh sch mn hnh

3.3.5.2

M t chi tit cc mn hnh


3.3.5.2.1 Mn hnh chnh:

Hnh 3.23 Mn hnh chnh

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Trng Giang

83 | T r a n g

STT

Tn

Loi

Ngha

Kch
hot

Ghi ch

Cho php ko
1

cusZoomSlider

CustomSlider trt zoom

Drag

hnh nh
2

imgFocusImage

ImageView

Focus hnh nh

btnCaptureButton

ImageButton

Chp hnh

mItemManual

MenuItem

mItemAuto

MenuItem

Chn ch pht
hin bng tay
Chn ch pht
hin t ng

Click
Click

Click

Bng3.21 Chi tit mn hnh chnh

[cusZoomSlider drag ]
Thay i hnh nh theo t l Zoom thch hp
[btnCaptureButton click ]
Chp hnh sau thng bo kt qu:
o Hin thng bo nu khng c pht hin bin bo
o Chuyn n mn hnh kt qu detect nu pht hin bin bo
[mItemManual click ]
Chuyn sang ch pht hin bng tay
[mItemAuto click ]
Chuyn sang ch pht hin t ng

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84 | T r a n g

3.3.5.2.2 Mn hnh pht hin bin bo bng tay:

Hnh 3.24 Mn hnh pht hin bin bo bng tay

STT

Tn

Loi

Kch

Ngha

hot

Ghi ch

Cho php ko
1

cusZoomSlider

CustomSlider trt zoom

Drag

hnh nh
2

imgFocusImage

ImageView

Focus hnh nh

btnCaptureButton

ImageButton

Chp hnh

Click

Bng3.22 Chi tit mn hnh pht hin bin bo bng tay

[cusZoomSlider drag ]
Thay i hnh nh theo t l Zoom thch hp
[btnCaptureButton click ]
Chp hnh sau thng bo kt qu:
o Hin thng bo nu khng c pht hin bin bo
o Chuyn n mn hnh kt qu detect nu pht hin bin bo
GVHD: ThS. Phan Nguyt Minh

SVTH: Nguyn B Chung


Trng Giang

85 | T r a n g

3.3.5.2.3 Mn hnh pht hin bin bo t ng:

Hnh 3.25 Mn hnh pht hin bin bo t ng

STT

Tn

Loi

tvFPS

TextView

imgFocusImage ImageView

Ngha

Kch
hot

Ghi ch

Hin th s Frame/giy
Focus hnh nh

Bng3.23 Chi tit mn hnh pht hin bin bo t ng

3.3.5.2.4 Mn hnh kt qu detect:

Hnh 3.26 Mn hnh kt qu detect

GVHD: ThS. Phan Nguyt Minh

SVTH: Nguyn B Chung


Trng Giang

86 | T r a n g

STT

Tn

Loi

Kch

Ngha

hot

Ghi ch

Hin th hnh nh thu


1

FrameViewLayer t camera x l v

cam

khoanh vng bin bo


Bng3.24 Chi tit mn hnh kt qu detect

3.3.5.2.5 Mn hnh kt qu nhn dng:

Hnh 3.27 Mn hnh kt qu nhn dng

STT

Tn

Loi

Ngha

Kch

Ghi

hot

ch

Hin th hnh nh thu t


1

cam

FrameViewLayer camera x l v
khoanh vng bin bo
Hin th kt qu nhn

quickAction

PopupMenu

dng tng ng vi bin


bo c chn

Bng3.25 Chi tit mn hnh kt qu nhn dng

GVHD: ThS. Phan Nguyt Minh

SVTH: Nguyn B Chung


Trng Giang

87 | T r a n g

3.4 Thc Nghim


Nh trnh by trong phn cu trc mng noron, tp hun luyn dnh cho
mng s l mt tp 5 loi bin bo vi tt c 30 mu bin th. Mc ch ca vic thc
nghim l nhm xc nh s lng noron lp n mt cch hp l, lm sao cho mng
c kh nng nhn bit cao nht, khng b xt thng tin v thi gian hun luyn mng
trong gii hn cho php.
Chng ta s s dng i lng trung bnh bnh phng li ti thiu v s vng
lp hun luyn mng o lng qu trnh thc nghim, la chn s noron lp n hp
l. Gii hn trung bnh bnh phng ti thiu s l 0.0001 v s vng lp hun luyn
ti a l 500.000 vng.
S noron

S lng mu

Trung bnh bnh

S vng lp

Kt qu hun

lp n

hun luyn

phng li ti thiu

hun luyn

luyn

10

0.317

500000

Tht bi

20

0.240

500000

Tht bi

30

0.237

500000

Tht bi

40

0.153

500000

Tht bi

45

0.0001

20882

Thnh cng

45

10

0.161

500000

Tht bi

50

10

0.0001

39388

Thnh cng

50

15

0.0001

59349

Thnh cng

50

20

0.0001

64497

Thnh cng

50

25

0.0001

111311

Thnh cng

50

30

0.407

500000

Tht bi

60

30

0.329

500000

Tht bi

70

30

0.089

500000

Tht bi

80

30

0.0001

47092

Thnh cng

Bng3.26 Bng kt qu thc nghim

Qua kt qu thc nghim, mng noron s c chn s noron lp n l 80 v


i lng c lng trung bnh bnh phng ti thiu l nh hn 0.0001.
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88 | T r a n g

CHNG 4 :

NH GI KT QU V KT LUN

Chng ny trnh by cc vn sau:


4.1 nh gi lun vn
4.2 nh gi chng trnh
4.3 Hng pht trin
4.4 Kt lun

4.1 nh Gi Lun Vn
Bo co l thuyt trnh by y v c th nhng im then cht v x l
nh, mng noron cng nh sc mnh ca n. Ngoi ra bo co cng gii thiu mt
nn tng di ng mi dnh cho cc nh pht trin ng dng di ng l h iu hnh
Android. Cng vi n l th vin x l nh OpenCV, mt trong cc th vin thng
hay c s dng khi lm vic vi cc bi ton nhn dng.
V mt p dng, kha lun gii quyt c bi ton pht hin v nhn dng
bin bo giao thng Vit Nam. M hnh gii quyt bi ton n gin, d ci t v
thch hp vi cc th b di ng khng cn i hi qu nhiu v phn cng.
4.2 nh Gi Chng Trnh
4.2.1 Kt qu t c
Chng trnh tng i hon chnh cho php ngi dng thc hin cc chc
nng sau:
-

Pht hin bin bo trong khung cnh bng tay thng qua thao tc chp
hnh

Pht hin bin bo t ng khi quay phim khung cnh

Nhn dng bin bo pht hin c da theo c s d liu c sn

4.2.2 Cc hn ch
-

Chng trnh hin ti vn cn mang tnh hc thut cao, ch c xem


nh mt ng dng tra cu thng tin bin bo tc thi ch cha c

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89 | T r a n g

chc nng nh mt h thng nhn dng v t cnh bo cho ngi tham


gia giao thng c th x l kp thi khi tham gia giao thng.
-

V mang tnh nghin cu nn h thng ch mi lm vic trn tp d liu


th nghim vi 5 loi bin bo khc nhau.

ng dng cn b hn ch khi lm vic vi mt s phn cng khng p


ng c cc yu cu v x l hoc cht lng camera

ng dng cha gii quyt trit bi ton v x l li gc nhn


(perspective projection) khi chp nh, bi ton lm vic vi bin bo
trong iu kin mi trng phc tp nh nh sng yu, che khut

4.3 Hng Pht Trin


Nng cp kh nng h thng, tr thnh mt h thng nhn dng v a ra cnh
bo tc thi cho ngi tham gia giao thng. lm vic ny c th pht trin ng
dng theo hng client server, hoc kt ni thit b vi camera ca cc phng tin
t, tip nhn d liu t camera ca t sau a ra cnh bo cho ngi iu
khin.
Ci thin kh nng lm vic, gii quyt trit cc vn cn mc phi nh
pht hin cha chnh xc trong iu kin mi trng phc tp, sa li gc nhn khi
quay phim, chp hnh
4.4 Kt Lun
Lun vn xy dng thnh cng h thng pht hin v nhn dng bin bo giao
thng trn thit b di ng, kt hp c sc mnh ca cng ngh x l nh vi nn
tng di ng tin tin, ha hn s l hng i mi dnh cho cc ng dng smartphone
trong tng lai.

GVHD: ThS. Phan Nguyt Minh

SVTH: Nguyn B Chung


Trng Giang

90 | T r a n g

TI LIU THAM KHO


[Ting Vit]
1. Gio trnh x l nh , TS Phm Vit Bnh TS Nng Ton, i Hc Thi
Nguyn, 2007.
2. Gio trnh x l nh, tp th tc gi, Hc Vin Cng Ngh Bu Chnh Vin Thng,
lu hnh ni b, 2006.
3. L thuyt mng noron, Nguyn Thanh Cm.
[Ting Anh]
1. A Guided Tour of Computer Vision, Vishvjit S. Nalwa.
2. An introduction to neural networks: Pattern learning with the back-propagation
algorithm - http://www.ibm.com/developerworks/library/l-neural/
3. Android technical resources
http://developer.android.com/resources/browser.html?tag=tutorial
4. Color-Based Road Sign Detection and Tracking, Luis David Lopez and Olac
Fuentes, Computer Science Department University of Texas
5. Learning OpenCV: Computer Vision with the OpenCV Library, Gary BradskiAdrian Kaehler.
6. OpenCV Tutorials - http://opencv.itseez.com/trunk/doc/tutorials/tutorials.html
7. Principles of Artificial Neural Networks, Daniel Graupe.
8. Traffic Sign Recognition Using Neural network on OpenCV: Toward Intelligent
Vehicle/Driver Assistance System, Auranuch Lorsakul - Jackrit Suthakorn

GVHD: ThS. Phan Nguyt Minh

SVTH: Nguyn B Chung


Trng Giang

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