대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)

대한전자공학회 (The Institute of Electronics and Information Engineers)
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가정용 로봇 응용 시스템을 위한 스테레오 영상 개선과 객체분할

Improvement of Stereo Depth Image and Object Segmentation for Household Robot Applications

  • 이병무 (세종대학교 컴퓨터 공학과) ;
  • 한동일 (세종대학교 컴퓨터 공학과)
  • Lee, Byoung-Moo (Department of Computer Engineering Sejong University) ;
  • Han, Dong-Il (Department of Computer Engineering Sejong University)
  • 발행 : 2007.07.11
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초록

Obtained disparity map from the stereo camera by using the several stereo matching algorithms carries lots of noise because of various causes. In our approach, mode filtering and noise elimination technique using the histogram and projection-based region merging methods are adopted for improving the quality of disparity map and image segmentation. The proposed algorithms are implemented in VHDL and the real-time experimentation shows the accurately divided objects.

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