• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.144-146
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• 2004

Stereo image analysis has been an important tool for reconstructing 3D terrain. By In its nature, occlusion is one of difficulties we cannot avoid in stereo matching. This paper presents a study on occlusion detection by employing LRC(Left-Right Check) and OCC(Occlusion Constraint). Experimental results show that these method can effectively detect occluded regions and those regions are usually occurred around object contours and scene discontinuity.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.181.5-181
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• 2001

This paper presents the method of 3D reconstruction of the depth information from the endoscopic stereo scopic images. After camera modeling to find camera parameters, we performed feature-point based stereo matching to find depth information. Acquired some depth information is finally 3D reconstructed using the NURBS(Non Uniform Rational B-Spline) algorithm. The final result image is helpful for the understanding of depth information visually.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.541-541
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• 2000

This paper Presents the method of 3D reconstruction of the depth information from the endoscopic stereo scopic images. After camera modeling to find camera parameters, we peformed feature-point based stereo matching to find depth information. Acquired some depth information is finally 3D reconstructed using the NURBS(Non Uniform Rational B-Spline) algorithm. The final result image is helpful for the understanding of depth information visually.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.209-210
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• 2007

Obtained disparity map from the stereo camera by using the several stereo matching algorithms carries lots of noise because of various causes. In our approach, mode filtering and noise elimination technique using the histogram and projection-based region merging methods are adopted for improving the quality of disparity map and image segmentation. The proposed algorithms are implemented in VHDL and the real-time experimentation shows the accurately divided objects.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.767-771
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• 2003

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

• 한국공작기계학회논문집
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• 제16권5호
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• pp.178-182
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• 2007

This study represents the efficient depth measurement for 3-dimensional microsystems using the disparity histogram from stereo images. Implementation of user-friendly Windows program written in C++ involves the various methods for the stereo-image processing in which the minimization of matching-pixel error upon the unique point for stereo images was carried out as a pre-processing method. Even though MPC among various methods was adopted in the present measurement, the resulting measurements seem to require optimizations of the windows sizes and corrections of post-manipulation for stereo images. The present work using Windows program is promising to measure the 3-dimensional depth of micro-system efficiently in implementing the 3-dimensional structure of micro-systems.

• 디지털산업정보학회논문지
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• 제4권1호
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• pp.25-31
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• 2008

In this paper, we propose a new method that separates background and foreground from stereo images. This method can be improved automatic target tracking system by using disparity map of the stereo vision system and background-separating mask, which can be obtained camera configuration parameters. We use disparity map and camera configuration parameters to separate object from background. Disparity map is made with block matching algorithm from stereo images. A morphology filter is used to compensate disparity error that can be caused by occlusion area. We could obtain a separated object from background when the proposed method was applied to real stereo cameras system.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.418-422
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• 2005

In this paper, a novel algorithm capable of detecting generic obstacles on a flat surface is proposed. The algorithm fundamentally exploits a distortion phenomena taken place in remapping process of original stereo images to a virtual top-view. Based on the distortion phenomena, we construct stereo polar histograms of edge maps, detect peaks on them, and search for matched peaks on both histograms using a Dynamic Programming (DP). Eventually, the searched corresponding peaks lead to estimate obstacles' positions. The advantages of the proposed algorithm are that it is not largely affected by an intensity difference between a pair of stereo images and does not depend on the typical stereo matching methodologies. Furthermore, the algorithm identifies the obstacles' positions quite robustly.

• 방송공학회논문지
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• 제7권3호
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• pp.229-237
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• 2002

본 논문에서는 혼합현실의 핵심 기술인 실사와 가상 영상의 합성을 위해 스테레오 영상의 특성을 고려하여 효율적으로 미세 변이를 추정하는 알고리듬과, 추정된 깊이 정보를 이용해 영상을 자연스럽게 합성하는 알고리듬을 제안하며, 이를 모의실험을 통해 검증한다. 제안 방법은 낮은 해상도의 영상으로부터 고해상도로 변이를 찾아가는 계층적 변이 추정 방식으로, 영역분할 양방향 화소정합을 통해 변이 추정의 수행 속도를 향상시키는 동시에 신뢰도를 높이며, 에지 정보를 참조하여 화소 단위로 미세 변이를 할당하게 된다. 이렇게 추정된 깊이 정보는 모델링된 가상 객체의 깊이 정좌와의 비교를 통해 혼합 현실 스테레오 영상으로 합성된다. 제안된 방식을 통해 매우 안정적이면서도 경계 부분이 정확한 변이 정보를 얻을 수 있었고, 3차원 영상의 합성에 효율적으로 사용될 수 있음을 실험을 통해 확인하였다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.286-289
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• 2009

This paper presents an effective approach to minimize recursive computations for balancing stereo pairs by using disparity vector errors and its directional histogram. A stereo balancing function is computed from the correspondent pixels between two images, and a simple approach is to find the matching blocks of two images. However, this procedure requires recursive operation, and its computation cost is very high. Therefore, in this paper, we propose an efficient balance method using structural similarity index and a partial re-searching scheme to reduce the computation cost considerably. For this purpose, we determine if re-searching for each block is necessary or not by using the errors and the directional histogram of disparity vectors. Experiment results show that the performance of the proposed approach can save the computations significantly with ignorable image quality degradation compared with full re-search approach.