• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.8
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• pp.87-95
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• 2007

In this paper, we analyzed the mr detection and the stability of the object tracking system by an adaptive stereo object hacking using region-based MAD(Mean Absolute Difference) algorithm and the modified PID(Proportional Integral Derivative)-based pan/tilt controller. That is, in the proposed system, the location coordinates of the target object in the right and left images are extracted from the sequential stereo input image by applying a region-based MAD algorithm and the configuration parameter of the stereo camera, and then these values could effectively control to pan/tilt of the stereo camera under the noisy circumstances through the modified PID controller. Accordingly, an adaptive control effect of a moving object can be analyzed through the advanced system with the proposed 3D robot vision, in which the possibility of real-time implementation of the robot vision system is also confirmed.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.2
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• pp.1-9
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• 2008

In this paper, to extract object regions in stereo image, we propose an enhanced algorithm that extracts objects combining both of brightness information and disparity information. The approach that extracts objects using both has been studied by Ping and Chaohui. In their algorithm, the segmentation for an input image is carried out using the brightness, and integration of segmented regions in consideration of disparity information within the previously segmented regions. In the regions where the brightness values between object regions and background regions are similar, however, the segmented regions probably include both of object regions and background regions. It may cause incorrect object extraction in the merging process executed in the unit of the segmented region. To solve this problem, in proposed method, we adopt the merging process which is performed in pixel unit. In addition, we perform the bi-directional stereo matching process to enhance reliability of the disparity information and supplement the disparity information resulted from a single directional matching process. Further searching for disparity is decided by edge information of the input image. The proposed method gives good performance in the object extraction since we find the disparity information that is not extracted in the traditional methods. Finally, we evaluate our method by experiments for the pictures acquired from a real stereoscopic camera.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2017.11a
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• pp.133-135
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• 2017

본 논문에서는 스테레오 영상을 이용하여 외삽 시점 영상 생성 시 발생하는 홀을 채우는 방법을 제안한다. 스테레오 영상에 3D 워핑을 이용하여 다수의 시점을 생성할 수 있다. 하지만 이 방법은 보이지 않는 시점에서의 영역을 완벽히 복원할 수 없기 때문에 필연적으로 홀이 발생한다. 홀을 채우기 위해 먼저 홀 영역의 경계를 Random Walks 알고리즘을 이용하여 전경과 배경으로 구분한다. 그리고 홀을 배경 성분에 해당하는 영역만을 이용하여 채우게 된다. 홀 채움 과정에서는 패치 내의 홀의 비율과 컬러와 깊이 영상의 텍스처에 대한 복잡도를 정의하고 패치 별로 우선순위를 계산하여 높은 순위의 패치로 홀을 채우게 된다. 실험 결과 제안하는 기법이 홀을 효과적으로 채우는 것을 확인하였다.

• The Journal of Engineering Research
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• v.6 no.2
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• pp.99-107
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• 2004

In stereo matching system, it is efficient using segment patch, which divides the image into homogeneous region in color or similar intensity, because it preserves the disparity boundary and disparity continuity in low textured region. But many miss matching occur in the highly textured region because of the over segmentation that makes patch small and ambiguous. In this paper, in order to solve problems, we propose adaptive patch matching based on the watershed image segmentation. Performance was verified in experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.12
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• pp.2146-2152
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• 2008

In In this paper, we proposed a new JPEG2000 codec using multiresolution-based rendering (MRBR) technique for video compression of 3-dimensional digital cinema. We introduced discrete wavelet transform (DWT) for stereoscopic image and stereo matching technique in the wavelet domain. The disparity was extracted using stereo matching and transmitted with the reference (left) image. Since the generated right image was degraded by the occlusion lesion, the residual image which is generated from difference between the original right image and the generated one was transmitted at the same tine. The disparity data was extracted using the dynamic programming method in the disparity domain. There is high correlation between the higher and lower subbands. Therefore we decreased the calculation amount and enhanced accuracy by restricting the search window and applying the disparity information generated from higher subband.

• The KIPS Transactions:PartB
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• v.15B no.4
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• pp.269-274
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• 2008

In this paper, we propose a new stereo correspondence method for generating excellent external energy for snake-based object segmentation methods in stereo images. Our method first generates an edge-based disparity map by performing stereo correspondence between multi-level edge maps of the stereo image pair. Only edges of similar strength are considered for matching. To filter the disparity map for edges of the object of interest, the method estimates the object's disparity value by matching the pattern of edges of the region of interest in the left image against candidate patterns in the right image. The filtered edge map is then used to generate external energy for the snake. The proposed method has been tested on two snake models and results show a noticeable enhancement on performance of the snake when compared with other methods.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.82-90
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• 2010

In this paper, A new stereo matching method based on reliability space is proposed to acquire 3D information from 2D image. In conventional stereo matching methods, speed is sacrificed to achieve high accuracy. To increase the matching speed while maintaining a high accuracy, this paper proposes this stereo matching method. It first makes the disparity space image for comparing all of the pixels on the stereo images. Then it produce reliability space through analyzing this value. and, By comparing the reliability space according to disparity, it makes disparity map. Moreover, the parts that make regional boundary errors are corrected by classifying the boundary of each region with the reference to color edge. The performance of the proposed stereo matching method is verified by various experiments. As a result, calculation cost is reduced by 30.6%, while the image quality of proposed method has similar performance with the existing method.

• The KIPS Transactions:PartB
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• v.9B no.2
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• pp.237-244
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• 2002

In this paper, we propose a stereo image recognition-based method for measuring the volume of the rectangular parallelepiped. The method measures the volume from two images captured with two CCD (charge coupled device) cameras by sequential processes such as ROI (region of interest) extraction, feature extraction, and stereo matching-based vortex recognition. The proposed method makes it possible to measure the volume of the 3D object at high speed because only a few features are used in the process of stereo matching. From experimental results, it is demonstrated that this method is very effective for measuring the volume of the rectangular parallelepiped at high speed.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.198-204
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• 2012

Tracking and recognition of robots are required for the cooperation task of robots in various environments. In the paper, a tracking control system of moving robot using stereo image processing, code-book model and fuzzy controller is proposed. First, foreground and background images are separated by using code-book model method. A candidate region is selected based on the color information in the separated foreground image and real distance of the robot is estimated from matching process of depth image that is acquired through stereo image processing. The open and close processing of image are applied and labeling according to the size of mobile robot is used to recognize the moving robot effectively. A fuzzy tracking controller using distance information and mobile information by stereo image processing is designed for effective tracking according to the movement velocity of the target robot. The proposed fuzzy tracking control method is verified through tracking experiments of mobile robots with stereo camera.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.11a
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• pp.924-926
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• 2017

본 논문에서는 좁고 곡률이 큰 도로에서의 자율 주행을 위한 AVM 시스템 기반의 알고리즘을 제안한다. 기존의 전방을 주시하는 모노/스테레오 카메라를 이용한 차선 인식 방법을 이용한 자율주행 알고리즘은 모노/스테레오 카메라의 제한된 FOV (Field of View)로 인해 좁고 곡률이 큰 도로에서의 자율 주행에 한계가 있다. 제안하는 알고리즘은 AVM 시스템을 기반으로 하여 이 한계를 극복하고자 한다. AVM 시스템에서 얻은 영상을 차선의 색상 정보를 이용해 차선의 영역을 이진화 한다. 이진화 영상으로부터, 차량의 뒷바퀴 주변의 관심영역을 시작으로 재귀적 탐색법을 이용하여 좌, 우 차선을 검출한다. 검출된 좌, 우 차선의 중앙선을 차량의 경로로 삼고 조향각을 산출해 낸다. 제한하는 알고리즘을 실제 차량에 적용시킨 실험을 수행하였고, 운전면허 시험장의 코스를 차선의 이탈없이 주행 가능함을 실험적으로 확인하였다.