• 한국멀티미디어학회논문지
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• 제14권12호
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• pp.1536-1543
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• 2011

Video stabilization is a very important step for vision based applications in the vehicular technology because the accuracy of these applications such as obstacle distance estimation, lane detection and tracking can be affected by bumpy roads and oscillation of vehicle. Conventional methods suffer from either the zooming effect which caused by a camera movement or some motion of surrounding vehicles. In order to overcome this problem, we propose a novel video stabilization method using FOE(Focus of Expansion). When a vehicle moves, optical flow diffuses from the FOE and the FOE is equal to an epipole. If a vehicle moves with vibration, the position of the epipole in the two consecutive frames is changed by oscillation of the vehicle. Therefore, we carry out video stabilization using motion vector estimated from the amount of change of the epipoles. Experiment results show that the proposed method is more efficient than conventional methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1121-1125
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• 2003

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.2-23
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• 2001

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.41.4-41
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• 2002

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. Here we consider two coordinate systems, the world coordinate system and the camera coordinate one and we use a pinhole camera model as the camera one. First of all, the essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. And these plays an important role in designing visual servoing in the later chapters. Statement of the problem is giver. Provided two a priori...

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.224-228
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• 1997

Computer vision system become more important as the researches on inspection systems, intelligent robots , diagnostic medical systems is performed actively. In this paper, 3D measuring system is developed by using stereo vision. The relation between left image and right image is obtained by using 8 point algorithm, and fundamental matrix, epipole and 3D reconstruction algorithm are used to measure 3D dimensions. 3D measuring system was developed by Visual Basic, in which 3D coordinates would be obtained by simple mouse clicks. This software would be applied to construction area, home interior system, rapid measuring system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.437-438
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• 2006

Virtual view synthesis is essential for 3DTV systems, which utilizes the motion parallax cue. In this paper, we propose a multi-step view synthesis algorithm to efficiently reconstruct an arbitrary view from limited number of known views of a 3D scene. We describe an efficient image rectification procedure which guarantees that an interpolation process produce valid views. This rectification method can deal with all possible camera motions. The idea consists of using a polar parameterization of the image around the epipole. Then, to generate intermediate views, we use an efficient dense disparity estimation algorithm considering features of stereo image pairs. Main concepts of the algorithm are based on the region dividing bidirectional pixel matching. The estimated disparities are used to synthesize intermediate view of stereo images. We use computer simulation to show the result of the proposed algorithm.

• 한국통신학회논문지
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• 제29권1C호
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• pp.83-91
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• 2004

에피폴라 Rectification은 서로 다른 시점에서 얻은 두 영상에 대해 각 영상의 에피폴을 미리 정해진 점으로 옮기는 호모그래피를 적용함으로써 두 영상의 에피폴라 지오메트리를 동일한 기준 평면으로 변환하여 에피폴라 라인을 수평 방향으로 정렬시키는 과정이다. 이때 호모그래피에 의해 변환된 영상 사이에서도 에피폴라 제약조건이 성립해야 하며, 이를 만족시키는 호모그래피가 여러 개 존재하므로 제약조건을 추가하여 응용에 적합한 호모그래피를 구하게 된다. Rectification 결과 두 영상은 스테레오 영상화되어 쉽게 변위값을 구할 수 있으므로 영상 내객체의 3차원 정보를 추정하여 영상분할에 활용할 수 있다. 본 논문에서는 객체분할에 적용할 수 있는 Rectification 방법을 제안하고 이 결과를 객체분할에 적용하였다. 객체분할을 위해 색상정보와 상대적인 변위값의 연속성을 동시에 이용하면 단일 객체가 색상에 의해 분할되거나 혹은 색상이 비슷하여 다른 객체가 병합되는 문제를 보완할 수 있다. 실험을 통해 Rectification 결과영상으로부터 획득한 단일 객체의 변위값이 연속성을 갖음을 확인하였고 이를 통해 제안하는 Rectification 방법이 객체분할에 적합함을 보였다.