• Journal of Korea Game Society
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• v.7 no.4
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• pp.63-70
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• 2007

Since the fisheye lens has a wide field of view, it can capture the scene and illumination from all directions from far less number of omnidirectional images. Due to these advantages of the omnidirectional camera, it is widely used in surveillance and reconstruction of 3D structure of the scene In this paper, we present a new self-calibration algorithm of omnidirectional camera from uncalibrated images by considering the inlier distribution. First, one parametric non-linear projection model of omnidirectional camera is estimated with the known rotation and translation parameters. After deriving projection model, we can compute an essential matrix of the camera with unknown motions, and then determine the camera information: rotation and translations. The standard deviations are used as a quantitative measure to select a proper inlier set. The experimental results showed that we can achieve a precise estimation of the omnidirectional camera model and extrinsic parameters including rotation and translation.

• Journal of the Korea Computer Graphics Society
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• v.21 no.1
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• pp.1-11
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• 2015

Researchers have developed virtual reality environments to provide audience with more visually immersive experiences than previously possible. One of the most popular solutions to build the immersive VR space is a multi-projection technique. However, utilization of multiple projectors requires large spaces, expensive cost, and accurate geometry calibration among projectors. This paper presents a novel omnidirectional projection system with a single projector and a single spherical mirror.We newly designed the simple and intuitive calibration system to define the shape of environment and the relative position of mirror/projector. For successful image projection, our optimized omnidirectional image generation step solves image distortion produced by the spherical mirror and a calibration problem produced by unknown parameters such as the shape of environment and the relative position between the mirror and the projector. Additionally, the focus correction is performed to improve the quality of the projection. The experiment results show that our method can generate the optimized image given a normal panoramic image for omnidirectional projection in a rectangular space.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.994-999
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• 2007

전방향(omnidirectional) 카메라 시스템은 보다 적은 수의 영상으로부터 주변 장면(scene)에 대한 많은 정보를 취득할 수 있는 장점이 있기 때문에 전방향 영상을 이용한 자동교정(self-calibration)과 3차원 재구성 등의 연구가 활발히 진행되고 있다. 본 논문에서는 기존에 제안된 교정 방법들을 이용하여 추정된 사영모델(projection model)의 정확성을 검증하기 위한 새로운 방법이 제안된다. 실 세계에서 다양하게 존재하는 직선 성분들은 전방향 영상에 컨투어(contour)의 형태로 사영되며, 사영모델과 컨투어의 양 끝점 좌표 값을 이용하여 그 궤적을 추정할 수 있다. 추정된 컨투어의 궤적과 영상에 존재하는 컨투어와의 거리 오차(distance error)로부터 전방향 카메라의 사영모델의 정확성을 검증할 수 있다. 제안된 방법의 성능을 평가하기 위해서 구 맵핑(spherical mapping)된 합성(synthetic) 영상과 어안렌즈(fisheye lens)로 취득한 실제 영상에 대해 제안된 알고리즘을 적용하여 사영모델의 정확성을 판단하였다.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.5
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• pp.35-44
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• 2007

Since the omnidirectional camera system with a very large field of view could take many information about environment scene from few images, various researches for calibration and 3D reconstruction using omnidirectional image have been presented actively. Most of line segments of man-made objects we projected to the contours by using the omnidirectional camera model. Therefore, the corresponding contours among images sequences would be useful for computing the camera transformations including rotation and translation. This paper presents a novel two step minimization method to estimate the extrinsic parameters of the camera from the corresponding contours. In the first step, coarse camera parameters are estimated by minimizing an angular error function between epipolar planes and back-projected vectors from each corresponding point. Then we can compute the final parameters minimizing a distance error of the projected contours and the actual contours. Simulation results on the synthetic and real images demonstrated that our algorithm can achieve precise contour matching and camera motion estimation.

• The KIPS Transactions:PartB
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• v.18B no.2
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• pp.51-56
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• 2011

Algorithms for intrinsic images reduce color differences in RGB images caused by the temperature of black-body radiators. Based on the reference light and detecting single invariant direction, these algorithms are weak in real images which can have multiple invariant directions when the scene illuminant is a colored illuminant. To solve these problems, this paper proposes a method of acquiring an intrinsic image by omnidirectional projection of an ROI and a translation of white patch in the ${\chi}$-chromaticity space. Because it is not easy to analyze an image in the three-dimensional RGB space, the ${\chi}$-chromaticity is also employed without the brightness factor in this paper. After the effect of the colored illuminant is decreased by a translation of white patch, an invariant direction is detected by omnidirectional projection of an ROI in this chromaticity space. In case the RGB image has multiple invariant directions, only one ROI is selected with the bin, which has the highest frequency in 3D histogram. And then the two operations, projection and inverse transformation, make intrinsic image acquired. In the experiments, test images were four datasets presented by Ebner and evaluation methods was the follows: standard deviation of the invariant direction, the constancy measure, the color space measure and the color constancy measure. The experimental results showed that the proposed method had lower standard deviation than the entropy, that its performance was two times higher than the compared algorithm.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.6
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• pp.125-132
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• 2008

Omnidirectional camera system with a wide view angle is widely used in surveillance and robotics areas. In general, most of previous studies on estimating a projection model and the extrinsic parameters from the omnidirectional images assume corresponding points previously established among views. This paper presents a novel omnidirectional camera calibration based on automatic contour matching. In the first place, we estimate the initial parameters including translation and rotations by using the epipolar constraint from the matched feature points. After choosing the interested points adjacent to more than two contours, we establish a precise correspondence among the connected contours by using the initial parameters and the active matching windows. The extrinsic parameters of the omnidirectional camera are estimated minimizing the angular errors of the epipolar plane of endpoints and the inverse projected 3D vectors. Experimental results on synthetic and real images demonstrate that the proposed algorithm obtains more precise camera parameters than the previous method.

• Korean Journal of Veterinary Research
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• v.36 no.4
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• pp.949-966
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• 1996

To establish the method for the most effective radiography and fluoroscopy, the abdominal organs of cats were investigeted using omnidirectional angles with the center of the body as the axis using an omnidirectional protective shielding X-ray system and a $360^{\circ}$ rotary restraint unit for use in small animals. The organs examined were the diaphragm, liver, stomach, colon, spleen and kidney. The results obtained in the present study were as follows: 1. Regardless of gas in the stomach present or not, it was feasible to distinguish the left and right crura in the lumbar portion of diaphragm in the oblique projection inclined over $30^{\circ}$ and under $90^{\circ}$ from the lateral projection. 2. Outlines of the exterior left lobe and the interior right lobe of the liver were observed in the oblique image inclined up to $60^{\circ}$ from the lateral image, while that of the exterior right lobe was noted in the oblique image inclined up to $60^{\circ}$ from the ventrodorsal-dorsoventral images. 3. It was necessary to have gas present in the stomach for detailed morphological observations of the stomach. It was most clearly observed in the right $30^{\circ}$ ventral-left dorsal oblique projection($120^{\circ}$ image) and the left $60^{\circ}$ dorsal-right ventral oblique projection($300^{\circ}$ image). 4. Morphology of the colon was observable in detail by the oblique projection inclined over $30^{\circ}$ from the lateral projection. 5. To observe the whole spleen it was required to have images from the ventrodorsal projection ($90^{\circ}$ image) to the right $60^{\circ}$ ventral-left dorsal oblique projection ($150^{\circ}$ image) as well as those from the dorsoventral projection ($270^{\circ}$ image) to the left-right lateral projection $0^{\circ}$ image). 6. Dorsal and ventral sides of the kidney were observable in the oblique images inclined $30^{\circ}$ from the lateral image. 7. Considering above findings collectively, it was thought that the results of present study might be useful for the analysis of abnormalies in each organ of cat.

• Journal of Broadcast Engineering
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• v.22 no.6
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• pp.850-853
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• 2017

In this paper, we propose an image analysis system based on omnidirectional image and object tracking image display using super wide angle camera. In order to generate spherical images, the projection process of converting from two wide-angle images to the equirectangular panoramic image was performed and the spherical image was expressed by converting rectangular to spherical coordinate system. Object tracking was performed by selecting the desired object initially, and KCF(Kernelized Correlation Filter) algorithm was used so that robust object tracking can be performed even when the object's shape is changed. In the initial dialog, the file and mode are selected, and then the result is displayed in the new dialog. If the object tracking mode is selected, the ROI is set by dragging the desired area in the new window.

• Current Optics and Photonics
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• v.1 no.4
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• pp.336-343
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• 2017

A wide field-of-view (FOV) image contains more visual information than a conventional image. This study proposes a new type of hyperbolic mirror for wide FOV image acquisition. The proposed mirror consists of a hyperbolic cylindrical section and a bowl-shaped hyperbolic omnidirectional section. Using an imaging system with this mirror, it is possible to achieve a $213.8^{\circ}$ horizontal and a $126.94^{\circ}$ vertical maximum FOV. Parameters of each section of the mirror are designed to be continuous at the junction of the two parts, and the resultant image is seamless. The image-acquisition model is obtained using ray-tracing optics. To rectify the geometrical distortion of the original image due to the mirror, an image-restoration algorithm based on conformal projection is presented in this study. The performance of the proposed imaging system with the hyperbolic mirror and its image-restoration algorithm are verified by experiments.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.05a
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• pp.679-682
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• 2003

카타디옵트릭 카메라는 거울을 이용하여 $360^{\circ}$의 3차원 이미지를 한 장에 촬영할 수 있는 이미지 시스템이다. 본 논문에서는 이 시스템을 사용할 때에 발생하는 이미지 왜곡 문제를 해결하는 구형투영 알고리즘을 제안한다. 흔히 사용하는 실린더형 알고리즘의 경우 계산은 비교적 간단하지만, 거울의 바로 아래에 있는 물체의 경우 전체적인 영상을 볼 수 없다는 단점이 있다. 본 연구에서 사용한 카메라는 포물면 거울을 사용한 카타디옵트릭 카메라이며, 쌍곡면거울을 사용한 카메라에 대해서도 이론적으로 공식을 유도하였다.