• Journal of Advanced Navigation Technology
• /
• v.27 no.2
• /
• pp.182-189
• /
• 2023

Depth estimation is a key technology in 3D map generation for autonomous driving of vehicles, robots, and drones. The existing sensor-based method has high accuracy but is expensive and has low resolution, while the camera-based method is more affordable with higher resolution. In this study, we propose self-attention-based unsupervised monocular depth estimation for UAV camera system. Self-Attention operation is applied to the network to improve the global feature extraction performance. In addition, we reduce the weight size of the self-attention operation for a low computational amount. The estimated depth and camera pose are transformed into point cloud. The point cloud is mapped into 3D map using the occupancy grid of Octree structure. The proposed network is evaluated using synthesized images and depth sequences from the Mid-Air dataset. Our network demonstrates a 7.69% reduction in error compared to prior studies.

• Journal of Broadcast Engineering
• /
• v.13 no.4
• /
• pp.427-439
• /
• 2008

This paper proposes a novel method to convert monoscopic soccer videos to stereoscopic videos. Through the soccer video analysis process, we detect shot boundaries and classify soccer frames into long shot or non-long shot. In the long shot case, the depth mapis generated relying on the size of the extracted ground region. For the non-long shot case, the shot is further partitioned into three types by considering the number of ground blocks and skin blocks which is obtained by a simple skin-color detection method. Then three different depth assignment methods are applied to each non-long shot types: 1) Depth estimation by object region extraction, 2) Foreground estimation by using the skin block and depth value computation by Gaussian function, and 3)the depth map generation for shots not containing the skin blocks. This depth assignment is followed by stereoscopic image generation. Subjective evaluation comparing generated depth maps and corresponding stereoscopic images indicate that the proposed algorithm can yield the sense of depth from a single view images.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.9 no.2
• /
• pp.728-741
• /
• 2015

Stereo vision has become an important technical issue in the field of 3D imaging, machine vision, robotics, image analysis, and so on. The depth map extraction from stereo video is a key technology of stereoscopic 3D video requiring stereo correspondence algorithms. This is the matching process of the similarity measure for each disparity value, followed by an aggregation and optimization step. Since it requires a lot of computational power, there are significant speed-performance advantages when exploiting parallel processing available on processors. In this situation, multi-core CPU may allow many parallel programming technologies to be realized in users computing devices. This paper proposes parallel implementations for calculating disparity map using a shared memory programming and exploiting the streaming SIMD extension technology. By doing so, we can take advantage both of the hardware and software features of multi-core processor. For the performance evaluation, we implemented a parallel SAD algorithm with OpenMP and SSE2. Their processing speeds are compared with non parallel version on stereoscopic streaming video. The experimental results show that both technologies have a significant effect on the performance and achieve great improvements on processing speed.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.5
• /
• pp.502-508
• /
• 2015

Stereo images have an advantage of calculating depth(distance) values which can not analyze from 2-D images. However, depth information obtained by stereo images has due to following reasons: it can be obtained by computation process; mismatching occurs when stereo matching is processing in occlusion which has an effect on accuracy of calculating depth information. Also, if global method is used for stereo matching, it needs a lot of computation. Therefore, this paper proposes the method obtaining disparity map which can reduce computation time and has higher accuracy than established method. Edge extraction which is image segmentation based on feature is used for improving accuracy and reducing computation time. Color K-Means method which is image segmentation based on color estimates correlation of objects in an image. And it extracts region of interest for applying Loopy Belief Propagation(LBP). For this, disparity map can be compensated by considering correlation of objects in the image. And it can reduce computation time because of calculating region of interest not all pixels. As a result, disparity map has more accurate and the proposed method reduces computation time.

• Spatial Information Research
• /
• v.3 no.2
• /
• pp.135-146
• /
• 1995

The purpose of this study is to develop a GIS application and interface model (GISCELWAB) for the temporal and spatial simulation of surface runoff from a small watershed. The model was constituted by three sub - models : The input data extraction model (GISINDATA) which prepares cell-based input data automatically for a given watershed, the cell water balance model(CELWAB) which calculates the water balance for a cell and simulates surface runoff of watershed simultaneously by the interaction of cells, and the output data management model(GISOUTDISP) which visualize the results of temporal and spatial variation of surface runoff. The input data extraction model was developed to solve the time-consuming problems for the input-data preparation of distributed hydrologic model. The input data for CELWAB can be obtained by extracting ASCII data from a vector map. The output data management model was developed to convert the storage depth and discharge of cell into grid map. This model ean-bles to visualize the temporal and spatial formulation process of watershed storage depth and surface runoff wholly with time increment.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.39 no.1
• /
• pp.9-16
• /
• 2002

This paper proposes a new 3D modeling technique using disparity-motion relationship and feature points. To generate the 3D model from real scene, generally, we need to compute depth of model vertices from the dense correspondence map over whole images. It takes much time and is also very difficult to get accurate depth. To improve such problems, in this paper, we only need to find the correspondence of some feature points to generate a 3D model of object without dense correspondence map. The proposed method consists of three parts, which are the extraction of object, the extraction of feature points, and the hierarchical 3D modeling using classified feature points. It has characteristics of low complexity and is effective to synthesize images with virtual view and to express the smoothness of Plain regions and the sharpness of edges.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.40-43
• /
• 1997

This paper presents a 3D object recognition method for generation of 3D environmental map or obstacle recognition of mobile robots. An active light source projects a stripe pattern of light onto the object surface, while the camera observes the projected pattern from its offset point. The system consists of a laser unit and a camera on a pan/tilt device. The line segment in 2D camera image implies an object surface plane. The scaling, filtering, edge extraction, object extraction and line thinning are used for the enhancement of the light stripe image. We can get faithful depth informations of the object surface from the line segment interpretation. The performance of the proposed method has demonstrated in detail through the experiments for varies type objects. Experimental results show that the method has a good position accuracy, effectively eliminates optical noises in the image, greatly reduces memory requirement, and also greatly cut down the image processing time for the 3D object recognition compared to the conventional object recognition.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
• /
• 2006.04a
• /
• pp.383-386
• /
• 2006

Subsurface temperature is affected by heat advection due to groundwater advection. Temperature-depth profile can be perturbed especially when there are significant vertical groundwater flux caused by external force such as injection or extraction. This research is to clarify the change of subsurface temperature distribution when the 40m x l0m sandy aquifer is stimulated by two different vertical flux($case1:\;{\pm}10^{-5}m^3/s,\;case2:\;{\pm}4{\times}10^{-5}m^3/s$) using a program called HydroGeoSphere. The resulting temperature distribution contour map shows pumping causes vertical attraction of water from deeper and warmer place which result in rising up isotherm. Additionally more injection/extraction rate, more vertical groundwater flux leads to faster Increase in temperature near the pumping well.

• Journal of information and communication convergence engineering
• /
• v.8 no.6
• /
• pp.645-650
• /
• 2010

In this paper, we present the effect of binocular cues which plays crucial role for the visualization of a stereoscopic or 3D image. This study is useful in extracting depth and disparity information by image processing technique. A linear relation between the object distance and the image distance is presented to discuss the cause of cybersickness. In the experimental results, three dimensional view of the depth map between the 2D images is shown. A median filter is used to reduce the noises available in the disparity map image. After the median filter, two filter algorithms such as 'Gabor' filter and 'Canny' filter are tested for disparity visualization between two images. The 'Gabor' filter is to estimate the disparity by texture extraction and discrimination methods of the two images, and the 'Canny' filter is used to visualize the disparity by edge detection of the two color images obtained from stereoscopic cameras. The 'Canny' filter is better choice for estimating the disparity rather than the 'Gabor' filter because the 'Canny' filter is much more efficient than 'Gabor' filter in terms of detecting the edges. 'Canny' filter changes the color images directly into color edges without converting them into the grayscale. As a result, more clear edges of the stereo images as compared to the edge detection by 'Gabor' filter can be obtained. Since the main goal of the research is to estimate the horizontal disparity of all possible regions or edges of the images, thus the 'Canny' filter is proposed for decipherable visualization of the disparity.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.10
• /
• pp.50-62
• /
• 1996

A parallel looking stereo camera was mainly used as an input sensor for digital image processing, image understanding and the extraction of 3 dimensional information. Theoretical analysis and performance evaluation are dealt in this paper for a convergent looking stereo camera model having a fixation point with the result of crossing optical axes. The quantization error, depth resolution and equidepth map due to digital pixels, and the misalignments effects of pan, tilt and roll angles are analyzed by using rhe relationship between the reference and image coordinate systems. Also horopter, epipolar lines, probability density functions of the depth error, and stereo fusion areas for the two camera models are discussed.