• Proceedings of the IEEK Conference
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• 2002.06d
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• pp.125-128
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• 2002

This paper propose a rectification technique by applying the Projection matrices derived from perspective projection matrices estimated from self-calibrated stereo image pairs. The derivation is made such that two epipolar lines are in parallel. Rectified images are generated by reprojecting corresponding image points. For the performance analysis of this technique, vertical coordinates of rectified points are compare to those obtained by the technique[3].

• Journal of information and communication convergence engineering
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• v.13 no.4
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• pp.275-279
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• 2015

There are several methods to record three dimensional (3D) information of objects such as lens array based integral imaging, synthetic aperture integral imaging (SAII), computer synthesized integral imaging (CSII), axially distributed image sensing (ADS), and axially distributed stereo image sensing (ADSS). ADSS method is capable of recording partially occluded 3D objects and reconstructing high-resolution slice plane images. In this paper, we present a computational method for depth extraction of partially occluded 3D objects using ADSS. In the proposed method, the high resolution elemental stereo image pairs are recorded by simply moving the stereo camera along the optical axis and the recorded elemental image pairs are used to reconstruct 3D slice images using the computational reconstruction algorithm. To extract depth information of partially occluded 3D object, we utilize the edge enhancement and simple block matching algorithm between two reconstructed slice image pair. To demonstrate the proposed method, we carry out the preliminary experiments and the results are presented.

• Journal of the Korea Society of Computer and Information
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• v.12 no.4
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• pp.87-94
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• 2007

Imbalances in focus, luminance and color between stereo Pairs could cause disparity vector estimation error and increment of transmission data. If the distribution of errors in residual image is large, it may influence to lowering of compression performance. Therefore, in this paper, we propose an efficient balancing method between stereo pairs to reduce the effect. For this, we registrated stereo images using a FFT based method to consider the pixels in the occluded region, we eliminated the pixels of blocks which has large error of disparity vector estimation in balancing function estimation. The balancing function has estimated using histogram specification, local information of target image and residual image between stereo images. Experiments show that the proposed method is effective in error distribution, PSNR and disparity vector estimation. We expect that our method can be improving compression efficiency in stereo coding system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.2
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• pp.107-116
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• 2012

We investigated the accuracy in three dimensional geo-positioning derived by four high resolution satellite images acquired by two different sensors using the vendor-provided rational polynomial coefficients(RPC) based block adjustment in this research. We used two in-track stereo pairs of GeoEye-1 and WorldView-2 satellite and DGPS surveying data. In this experiment, we analyzed accuracies of RPC block adjustment models of two kinds of homogeneous stereo pairs, four kinds of heterogeneous stereo pairs, three 3 triplet image pairs, and one quadruplet image pair separately. The result shows that the accuracies of the models are nearly same. The accuracy without any GCPs reaches about CEP(90) 2.3m and LEP(90) 2.5m and the accuracy with single GCP is about CEP(90) 0.3m and LEP(90) 0.5m.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.2
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• pp.103-109
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a intelligent path planning of an automatic mobile robot is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity mad obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene. and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.8
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• pp.3965-3983
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• 2017

We propose a novel eye tracking method that can estimate 3D world coordinates using an infrared (IR) stereo camera for indoor and outdoor environments. This method first detects dark evidences such as eyes, eyebrows and mouths by fast multi-level thresholding. Among these evidences, eye pair evidences are detected by evidential reasoning and geometrical rules. For robust accuracy, two classifiers based on multiple layer perceptron (MLP) using gradient local binary patterns (GLBPs) verify whether the detected evidences are real eye pairs or not. Finally, the 3D world coordinates of detected eyes are calculated by region-based stereo matching. Compared with other eye detection methods, the proposed method can detect the eyes of people wearing sunglasses due to the use of the IR spectrum. Especially, when people are in dark environments such as driving at nighttime, driving in an indoor carpark, or passing through a tunnel, human eyes can be robustly detected because we use active IR illuminators. In the experimental results, it is shown that the proposed method can detect eye pairs with high performance in real-time under variable illumination conditions. Therefore, the proposed method can contribute to human-computer interactions (HCIs) and intelligent transportation systems (ITSs) applications such as gaze tracking, windshield head-up display and drowsiness detection.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.2
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• pp.177-185
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• 1998

There is an increasing request for 3D data and outlines on building for urban planning and design. This paper describes an approach to extract building using Digital Surface Models(DSM) and stereo pairs of aerial images. DSM contain informations not only about the topographic surface like Digital Elevation Models(DEM), but also about buildings and other objects higher than the surrounding topographic surface, e.g. tees. We therefore describe our approach consisting of two step procedures. The first step of the approach is to generate DSM by stereo matching using Maximum Likelihood Estimation and Dynamic Programming. The proposed stereo matching is using the cost function for finding the disparity between the left and right image, and the Dynamic Programming for solving the stereo matching problem. The second step is to detect building outlines using the DSM and the edge informations extracted from a digital aerial image by Sobel Operator. The overlay analysis of the DSM and the edge information by Sobel Operator was efficient to detect building outlines.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1098-1101
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• 2004

The ordinary stereo image of an object consists of data of left and right views. Therefore, the left and right image pairs have to be transmitted simultaneously in order to display 3-dimentional video at the remote site. However, due to the twice data in comparing with a monoscopic image of the same object, it needs to be compressed for fast transmission and resource saving. Hence, it needs an effective coding algorithm for compressing stereo image. It was found previously that compressing left and right frames independently will achieve the compression ratio lower than compressing by utilizing the spatial redundancy between both frames. Therefore, in this paper, we study the stereo image compression technique based on the multiresolution wavelet transform using varied disparity-block size for estimation and compensation. The size of disparity-block in the stereo pair subbands are scaling on a coarse-to-fine wavelet coefficients strategy. Finally, the reference left image and residual right image after disparity estimation and compensation are coded by using SPIHT coding. The considered method demonstrates good performance in both PSNR measures and visual quality for stereo image.

• ETRI Journal
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• v.32 no.5
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• pp.750-760
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• 2010

We propose a homology between thermodynamic systems and images for the treatment of time-varying imagery. A physical system colder than its surroundings absorbs heat from the surroundings. Furthermore, the absorbed heat increases the entropy of the system, which is closely related to its disorder as given by the definition of Clausius and Boltzmann. Because pixels of an image are viewed as a state of lattice-like molecules in a thermodynamic system, the task of reckoning the entropy variations of pixels is similar to estimating their degrees of disorder. We apply this homology to the uncalibrated stereo matching problem. The absence of calibrations alleviates user efforts to install stereo cameras and enables users to freely modify the composition of the cameras. The proposed method is also robust to differences in brightness, white balancing, and even focusing between stereo image pairs. These peculiarities enable users to estimate the depths of interesting objects in practical applications without much effort in order to set and maintain a stereo vision setup. Users can consequently utilize two webcams as a stereo camera.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.4
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• pp.212-222
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• 2003

The ability to efficiently and robustly recover accurate 3D terrain models from sets of stereoscopic images is important to many civilian and military applications. A stereo matching has been an important tool for reconstructing three dimensional terrain. However, there exist many factors causing stereo matching error, such as occlusion, no feature or repetitive pattern in the correlation window, intensity variation, etc. Among them, occlusion can be only resolved by true multi-image stereo. In this paper, we present multi-image stereo method using DEM fusion as one of efficient and reliable true multi-image methods. Elevations generated by all pairs of images are combined by the fusion process which accepts an accurate elevation and rejects an outlier. We propose three fusion schemes: THD(Thresholding), BPS(Best Pair Selection) and MS(Median Selection). THD averages elevations after rejecting outliers by thresholding, while BPS selects the most reliable elevation. To determine the reliability of a elevation or detect the outlier, we employ the measure of self-consistency. The last scheme, MS, selects the median value of elevations. We test the effectiveness of the proposed methods with a quantitative analysis using simulated images. Experimental results indicate that all three fusion schemes showed much better improvement over the conventional binocular stereo in natural terrain of 29 Palms and urban site of Avenches.