工學院: 土木工程學研究所指導教授: 陳俊杉張柏偉Chang, Po-WeiPo-WeiChang2017-03-132018-07-092017-03-132018-07-092015http://ntur.lib.ntu.edu.tw//handle/246246/277999　　測量車取得空間資訊的精度取決於定位的精度。當全球定位系統長時間無法提供定位資訊時，定位的精度會由於慣性導航儀誤差累計而下降，並影響感測器獲取的空間資訊。許多改正成果的方法被提出來，不過相關應用軟體不一定能支援這些方法的操作。 　　本研究制訂一個移動式測繪平台的資料處理軟體框架ntuMMF (NTU Mobile Mapping Framework)，採用管線架構，並定義六類不同功能的管線元件：產生資料的源頭元件、讀入檔案的讀取元件、資料處理的處理元件、存放資料的儲存槽元件、將資料寫至檔案的寫出元件、可以提取資料的資料映射元件。這些元件有相同的訊息傳遞介面，彼此可連結成一條資料處理的管線，若要更改資料處理的流程，只要抽換或重排元件即可。此外，ntuMMF提供明確的元件運作程序，確保管線能正常運作。 　　依照ntuMMF制定的規範，開發出針對移動式測繪平台的資料處理工具MMTK (Mobile Mapping Toolkit)，MMTK支援測繪領域常見檔案的讀寫，內建基本的資料處理功能。還有提供元件模板，開發者可藉其將演算法套入元件。本研究提供三個範例，展現ntuMMF這個軟體框架在移動式測繪系統資料處理上的彈性與通用性。 　　第一個範例展現的是ntuMMF的管線組成的彈性。雖然範例中的管線組成元件只有三個，不過藉由抽換元件，這條管線卻可以完全涵蓋使用者的需求。 　　第二個範例，則是展現ntuMMF的管線運作的彈性。範例中與使用者頻繁互動的操作，是利用管線可以分段執行的特性達成。 　　第三個範例除了展現管線運作的彈性，也展現ntuMMF這個框架的通用性。因為第三個範例處理的資料類型與前兩個範例完全不同，但仍然可以在符合ntuMMF的規範下被開發出來。 　　ntuMMF的貢獻為：以管線架構包裝資料處理的流程，讓處理流程的組合、運作都更有彈性。另外，ntuMMF框架的通用性，統合移動式測繪平台領域的資料處理流程，給予開發者明確的開發步驟。The precision of spatial data acquired by vehicle-based Mobile Mapping System (MMS) depends highly on the precision of the positioning equipment. After Global Positioning System (GPS) is not able to receive enough satellite signals for a while, the error propagation in positioning of IMU will affect the precision of spatial data. There are many adjustment models aiming to reduce the error, but there are few software tools that are flexible enough to support the operation of adjustment. In this thesis, a software framework is developed for data processing in MMS, called ntuMMF (NTU Mobile Mapping Framework). The architecture of ntuMMF is pipes and filters. ntuMMF consists of six major components: source, reader, filter, sink, writer and mapper. The processing pipeline is a composite of these components. These components have the same interface, so the new processing pipeline can be easily created by adding a new component. In addition, ntuMMF formulates the operating procedure of these components to make sure the processing pipeline can work seamlessly. A toolkit for data processing in MMS, called MMTK (Mobile Mapping Toolkit), is developed based on ntuMMF. MMTK supports many common files’ formats in MMS; it also provides the basic data processing functions. Some templates are provided for developers to implement the algorithm rapidly. Three different examples are used to demonstrate the flexibility of the proposed framework and toolkit. The first example shows the flexibility of the combination of the pipeline. Although there are only three components in the processing pipeline, the new processing pipeline can be created by replacing a component with different functions. As a result, a three-component pipeline can solve most of the requirements from the first example. The second example shows the flexibility of the operation of the pipeline. The request-intensive service in the example can be implemented by calling the trigger function of the pipeline. Because the pipeline can work partially, the time of handling user’s requests can be very short. The third example not only shows the flexibility of the operation of the pipeline as the second example, but also demonstrates the versatility of ntuMMF. The type of data in the third example is different from the data in the above examples, but the data processing procedures remain identical. The contribution of ntuMMF is twofold. First, by encapsulating the data processing procedure, the process flow becomes more flexible for reuse. Second, the versatility of the framework unifies the procedure of data processing in MMS, and it demonstrates the development procedure step by step.6356123 bytesapplication/pdf論文公開時間: 2018/8/20論文使用權限: 同意有償授權(權利金給回饋學校)軟體框架管線架構移動測繪平台資料處理光達software frameworkpipes and filtersmobile mapping system (MMS)data processingLiDARthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/277999/1/ntu-104-R00521609-1.pdf