• Journal of Korea Society of Digital Industry and Information Management
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• v.4 no.1
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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.

• Proceedings of the Korea Contents Association Conference
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• 2011.05a
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• pp.499-500
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• 2011

Line Disparity Map[1]은 스테레오 영역기반 정합방법에서 블록단위의 영역이 아닌 라인의 기울기를 바탕으로 비교하기 때문에 실시간 스테레오 정합이 가능하다. 따라서 본 논문은 이러한 Line Disparity Map 알고리즘을 사용하여 단순히 관찰로만 사용되어 지는 입체현미경에 스테레오 비전을 기반으로 하는 3D 형상계측 시스템을 개발하여 사람이 손으로 측정하기 힘든 미세의 오브젝트를 측정하는 시스템을 개발하고자 한다.

• Journal of Korea Multimedia Society
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• v.9 no.1
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• pp.109-118
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• 2006

In this paper, we suggest the environment based disparity method that calculate the depth value of the objects from environment maps. This method using the disparity of the environment map can calculate the depth value from two environment map that acquire at different viewpoint. This method can decide the visibility of the object whether it is occluded others or not. Also, we can analogize the depth value of the object that does not relate the reference plane(in case of being in the air) and make three dimensional environment model using the proposed method

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.330-334
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• 2001

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.899-905
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• 2003

An intermediate images generation method using multi-resolution based hierarchical block matching disparity map is proposed. This method is composed of a disparity estimation, an occlusion detection and intermediate image synthesis. For the disparity estimation, which is one of the important processes in intermediate image synthesis, we use the multi-resolution based hierarchical block matching algorithm to overcome the imperfect ness of block matching algorithm. The proposed method makes disparity maps more accurate and dense by multi-resolution based hierarchical block matching, and the estimated disparity maps are used to generate intermediate images of stereo images. Generated intermediate images show 0.1∼1.4 ㏈ higher PSNR than the images obtained by block matching algorithm.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1817_1818
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• 2009

Disparity 맵은 스테레오 카메라의 이미지 평면에 동일한 3차원 포인터를 나타내는 픽셀간의 차이를 나타내는 이미지이다. 이는 3차원 정보를 얻기 위하여 생성 한며 생성된 Disparity 맵은 Triangulation을 이용하여 3차원 복원이 가능하다. Disparity 맵은 픽셀의 intensity의 차를 이용하여 구하므로 Repeated Pattern 이나 Textureless 부분에서 많은 에러가 생기는 문제가 있다. 본 논문에서는 이런 문제점을 해결하기 위하여 싱글 카메라와 레이저 레인지 파인더의 캘리브레이션을 통해 알아낸 기하학적인 관계를 이용하여 3차원 정보를 카메라의 이미지 평면으로 역 사영 시켜서 Disparity 맵을 생성하는 알고리즘을 제안한다. 이 방법은 기존의 스트레오 카메라 기반으로 Disparity 맵을 생성하는 경우에 생기는 Repeated Pattern 이나 Textureless 부분의 문제를 해결 할 수 있다는 것을 실험을 통하여 검증 하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.10
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• pp.2663-2678
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• 2012

Due to sharp depth transition, big holes may be found in the novel view that is synthesized by depth-image-based rendering (DIBR). A hole-filling method based on disparity map is proposed. One important aspect of the method is that the disparity map of destination image is used for hole-filling, instead of the depth image of reference image. Firstly, the big hole detection based on disparity map is conducted, and the start point and the end point of the hole are recorded. Then foreground pixels and background pixels are distinguished for hole-dilating according to disparity map, so that areas with matching errors can be determined and eliminated. In addition, parallaxes of pixels in the area with holes and matching errors are changed to new values. Finally, holes are filled with background pixels from reference image according to these new parallaxes. Experimental results show that the quality of the new view after hole-filling is quite well; and geometric distortions are avoided in destination image, in contrast to the virtual view generated by depth-smoothing methods and image inpainting methods. Moreover, this method is easy for hardware implementation.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.4
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• pp.318-324
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• 2017

We introduced a stereo camera on the aircraft to detect flight objects and to estimate the 3D position of them. The Saliency map algorithm based on PCT was proposed to detect a small object between clouds, and then we processed a stereo matching algorithm to find out the disparity between the left and right camera. In order to extract accurate disparity, cost aggregation region was used as a variable region to adapt to detection object. In this paper, we use the detection result as the cost aggregation region. In order to extract more precise disparity, sub-pixel interpolation is used to extract float type-disparity at sub-pixel level. We also proposed a method to estimate the spatial position of an object by using camera parameters. It is expected that it can be applied to image - based object detection and collision avoidance system of autonomous aircraft in the future.

• Journal of Broadcast Engineering
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• v.10 no.4 s.29
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• pp.576-586
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• 2005

This paper presents a new estimation and representation of a disparity map for stereo-based video communication systems. Several pixel-based and block-based algorithms have been proposed to estimate the disparity map. While the pixel-based algorithms can achieve high accuracy in computing the disparity map, they require a lost of bits to represent the disparity information. The bit rate can be reduced by the block-based algorithm, sacrificing the representation accuracy. In this paper, the block enclosing a distinct edge is divided into two regions and the disparity of each region is set to that of a neighboring block. The proposed algorithm employs accumulated histograms and a neural network to classify a type of a block. In this paper, we proved that the proposed algorithm is more effective than the conventional algorithms in estimating and representing disparity maps through several experiments.

• ETRI Journal
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• v.36 no.5
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• pp.752-760
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• 2014

This paper proposes a conditional replenishment algorithm (CRA) to improve the visual quality (where spatial resolutions of the left and right views are mismatched) of a hybrid stereoscopic 3DTV that is based on the ATSC-M/H standard. So as to generate an enhanced view, the CRA is to choose the better substitute among a disparity-compensated view with high quality and a simply interpolated view. The CRA generates a disparity map that includes modes and disparity vectors as additional information. It also employs a quad-tree structure with variable block size by considering the spatial correlation of disparity vectors. In addition, it takes advantage of the disparity map used in a previous frame to keep the amount of additional information as small as possible. The simulation results show that the proposed CRA can successfully improve the peak signal-to-noise ratio of a poor-quality view and consequently have a positive effect on the subjective quality of the resulting 3D view.