High Speed Self-Adaptive Algorithms for Implementation in a 3-D Vision Sensor

3-D 비젼센서를 위한 고속 자동선택 알고리즘

In this paper, we present an original stereo vision system which comprises two process: 1. An image segmentation algorithm based on new concept called declivity and using automatic thresholds. 2. A new stereo matching algorithm based on an optimal path search. This path is obtained by dynamic programming method which uses the threshold values calculated during the segmentation process. At present, a complete depth map of indoor scene only needs about 3 s on a Sun workstation IPX, and this time will be reduced to a few tenth of second on a specialised architecture based on several DSPs which is currently under consideration.

이 논문은 다음과 같은 두가지 요소로 구성되는 독창적인 stereo vision system을 논술한다. declivity라는 새로운 개념을 도입한 자동선택 영상 분할처리 (self-adaptive image segmentation process) 와 자동선택 결정변수 (self-adaptive decision parameters) 를 응용하여 설계된 신속한 stereo matching algorithm. 현재, 실내 image의 depth map을 완성하는데 SUN-IPX 에서 3sec가 소요되나 연구중인 DSP Chip의 조합은 이 시간을 1초 이하로 단축시킬 수 있을 것이다.