• The Journal of the Acoustical Society of Korea
• /
• v.18 no.2
• /
• pp.66-76
• /
• 1999

This paper proposes that can take at high speed the information of binocular disparity with moving translational and forward stereo camera to the extent that does not occur the problem of a correspondence point. It shows that in case of stereo vision with translational motion, can take the information of binocular disparity being devoid of error and putting high confidence in, and that in case of stereo vision with forward motion, can take the horizontal component which can not be detected in common stereo vision. Besides, the stereo vision can be done at high speed due to being bright and small a correspondence point comparing not to do, because a correspondence between right and left images is previously limited. But there are problem that a resonable information of binocular disparity can not be taken, if the vicinity of center of image is in accord with the region of occlusion in stereo vision with forward motion.

• Korean Journal of Cognitive Science
• /
• v.14 no.1
• /
• pp.17-28
• /
• 2003

In order to provide natural images with a specified depth through three-dimensional display system, the stereo images should be similar to those projected from real environment as much as possible. Even when two persons see an identical scene, the binocular Parallax between two images of an object varies as a function of one's inter-pupilary distance (IPD). In this study, we investigated whether individual differences, such as IPD and accommodative vergence, would affect the perception of three dimensional scene provided by stereo-images. Results showed that a person's IPD is correlated with the limit of screen and binocular parallax for single vision, and affects the perceived depth of an object on fixation. More specifically, with longer IPD the limit of screen and binocular parallax for single vision is decreased, and the perceived depth is reduced. These results suggest that the screen and binocular parallax of an object should be calibrated with regard to users IPD to provide natural stereo-images with a specified depth and to Prevent double vision.

• Current Optics and Photonics
• /
• v.2 no.4
• /
• pp.348-355
• /
• 2018

How to measure the creepage distance of an insulator quickly and accurately is a problem for the power industry at present, and the noticeable concern is that the high voltage insulation equipment cannot be measured online in the charged state. In view of this situation, we develop an on-line measurement system of creepage distance for high voltage insulators based on binocular stereo vision. We have proposed a method of generating linear structured light using a conical off-axis mirror. The feasibility and effect of two ways to solve the interference problem of strong sunlight have been discussed, one way is to use bandpass filters to enhance the contrast ratio of linear structured light in the images, and the other way is to process the images with adaptive threshold segmentation and feature point extraction. After the system is calibrated, we tested the measurement error of the on-line measurement system with a composite insulator sample. Experimental results show that the maximum relative error is 1.45% and the average relative error is 0.69%, which satisfies the task requirement of not more than 5% of the maximum relative error.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.238-243
• /
• 1998

This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.

• Journal of the Optical Society of Korea
• /
• v.15 no.1
• /
• pp.30-37
• /
• 2011

Binocular-pair images obtained from two cameras can be used to calculate the three-dimensional (3D) world coordinate of a feature point. However, to apply this method, measurement accuracy of binocular vision depends on some structure factors. This paper presents an experimental study of measurement distance, baseline distance, and baseline direction. Their effects on camera reconstruction accuracy are investigated. The testing set for the binocular model consists of a series of feature points in stereo-pair images and corresponding 3D world coordinates. This paper discusses a method to increase the baseline distance of two cameras for enhancing the accuracy of a binocular vision system. Moreover, there is an inflexion point of the value and distribution of measurement errors when the baseline distance is increased. The accuracy benefit from increasing the baseline distance is not obvious, since the baseline distance exceeds 1000 mm in this experiment. Furthermore, it is observed that the direction errors deduced from the set-up are lower when the main measurement direction is similar to the baseline direction.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.41.2-41
• /
• 2002

The stereo correspondence of two retinal images is one of the most difficult problems in stereo vision because the reconstruction of 3-D scene is a typical visual ill-posed problem. So far there still have been many unsolved problems, one of which is to reconstruct 3-D scene for a monochromatic surface because there is no clue to make a correspondence between two retinal images. We consider this problem with two layered self-organization neural network to simulate the competitive and cooperative interaction of binocular neurons. A...

• Journal of the Institute of Convergence Signal Processing
• /
• v.6 no.3
• /
• pp.112-119
• /
• 2005

In this paper, a model of neural circuit was proposed, which abstracts the depth information in two images gotten from right and left retinas. The proposed neural circuit corresponds to binocular stereo vision based on psychologic and physiological knowledge, and we examine a restoration method of three-dimensional surface. In case of drawing a disparity based on characteristics of images, we can not abstract the depth information correctly if resemblant characteristics are repeated on the boundary region of an object. A binocular disparity is decided in a model of neural circuit by abstraction, synthesis, and correction of a disparity. And we propose a method which restores three-dimensional shape by correcting a depth information, and also restores a three-dimensional surface by mapping a left input image on the restored three-dimensional shape. And we confirmed that the computation time for disparity abstraction can be greatly reduced through the simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.9 no.9
• /
• pp.3721-3737
• /
• 2015

3D reconstruction based on binocular data is significant to machine vision. In our method, we propose a new and high efficiency 3D reconstruction approach by using a consumer camera aiming to: 1) address the configuration problem of dual camera in the binocular reconstruction system; 2) address stereo matching can hardly be done well problem in both time computing and precision. The kernel feature is firstly proposed in calibration stage to rectify the epipolar. Then, we segment the objects in the camera into background and foreground, for which system obtains the disparity by different method: local window matching and kernel feature-based matching. Extensive experiments demonstrate our proposed algorithm represents accurate 3D model.

• Journal of Mechanical Science and Technology
• /
• v.14 no.7
• /
• pp.782-788
• /
• 2000

In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.3
• /
• pp.116-123
• /
• 1990

Most algorithms utilized the horizontal epipolar lines for solving the correspondence problem in 3-D computer vision. However, the requirement is very difficult to be satisfied in real situations. In this paper, we propose a binocular-stereo matching algorithm, based on line matching method, which does not require the horizontal epipolar lines of the extreme pixels of a given line segment and two circles whose radius is equal to the maximum disparity. And we use the features including the direction of line segments, edge strength and cross-correlation for line matching. The experimental results show that the proposed algorithm can be a useful tool for solving the correspondence problem in 3-D computer vision.