• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -1
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• pp.421-424
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• 2000

In this paper, we propose a window warping method to solve stereo matching problems in projective distortion region. Because the projective distortion region cant t be estimated with fixed-size block matching algorithm, we use the window warping technique in block matching process. The position of a reference window to resample is obtained adaptively according to the degree of reliability in disparity estimated previously. The initial disparity and reliability are obtained by applying a well known hierarchical strategy. The experimental result shows that considerable improvement is obtained in the projective distortion region.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.391-394
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• 2005

In this paper, we present an approach that is able to reconstruct 3 dimensional metric models from un-calibrated images acquired by a freely moved camera system. If nothing is known of the calibration of either camera, nor the arrangement of one camera which respect to the other, then the projective reconstruction will have projective distortion which expressed by an arbitrary projective transformation. The distortion on the reconstruction is removed from projection to metric through self-calibration. The self-calibration requires no information about the camera matrices, or information about the scene geometry. Self-calibration is the process of determining internal camera parameters directly from multiply un-calibrated images. Self-calibration avoids the onerous task of calibrating cameras which needs to use special calibration objects. The root of the method is setting a uniquely fixed conic(absolute quadric) in 3D space. And it can make possible to figure out some way from the images. Once absolute quadric is identified, the metric geometry can be computed. We compared reconstruction image from calibrated images with the result by self-calibration method.

• 한국CDE학회논문집
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• 제9권4호
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• pp.397-405
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• 2004

Texture mapping is the process of covering 3D models with texture images in order to increase the visual realism of the models. For proper mapping the coordinates of texture images need to coincide with those of the 3D models. When projective images from the camera are used as texture images, the texture image coordinates are defined by a camera calibration method. The texture image coordinates are determined by the relation between the coordinate systems of the camera image and the 3D object. With the projective camera images, the distortion effect caused by the camera lenses should be compensated in order to get accurate texture coordinates. The distortion effect problem has been dealt with iterative methods, where the camera calibration coefficients are computed first without considering the distortion effect and then modified properly. The methods not only cause to change the position of the camera perspective line in the image plane, but also require more control points. In this paper, a new iterative method is suggested for reducing the error by fixing the principal points in the image plane. The method considers the image distortion effect independently and fixes the values of correction coefficients, with which the distortion coefficients can be computed with fewer control points. It is shown that the camera distortion effects are compensated with fewer numbers of control points than the previous methods and the projective texture mapping results in more realistic image.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1090-1093
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• 2004

In this paper, a problem of geometrically distorted images is considered. In particular, the paper discusses the detection of a watermark from a photographed image of the watermarked picture. The image is possibly obtained by using a digital camera. This watermark detection problem is made difficult by various geometric distortions added to the original picture through the printing and photographing processes. In particular, the paper focuses on the geometric distortion due to a projective transformation, as part of a camera 3D-to-2D imaging process. It is well-known that a cross ratio of collinear points is invariant under a perspective projection. By exploiting this fact, a projective-invariant digital watermarking technique is developed. By detecting the picture's corners, and the image center point at the intersection of two main diagonal lines, predefined cross ratios are used to compute the watermark embedded locations. From those identified embedding pixel locations, a watermark can be detected by performing a correlation between a watermark pattern and the image over those pixels. The proposed method does not require an inverse transformation on the distorted image, thus simplifying the detection process. Performance of the proposed method has been analyzed through computer experiments

• 대한전자공학회논문지SP
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• 제48권6호
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• pp.115-123
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• 2011

일반적으로 실제 사용되는 카메라들은 렌즈 왜곡이 존재하며, 렌즈왜곡의 정도는 카메라의 가격뿐만 아니라 특정 용도에 의해 달라진다. 현재까지의 많은 렌즈 왜곡 보정기법들은 왜곡 변수를 찾기 위해 투영 기하학의 불변량 속성을 기반으로 한 것으로, "물체의 직선은 이미지에서의 직선"이라는 상식에서 출발한다. 하지만, 평행선인 경우 이전의 연구들은 렌즈 왜곡 변수를 결정하는데 제약이 있다. 본 논문에서는 렌즈왜곡 변수를 결정할 때 동시에 평행선 유지를 보증할 수 있는 방법을 제안함으로써, 핀홀 카메라 모델을 이용하여 투영된 이미지와 실제 이미지가 근접한 결과를 얻게 된다. 실제 이미지와 제안된 기법을 사용한 보정이미지를 비교하여 그 효율성을 입증하였다.

• 대한전자공학회논문지SP
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• 제46권4호
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• pp.97-107
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• 2009

영상기반 보행인식 시스템에서 카메라와 객체가 이루는 각도(angle) 및 렌즈 왜곡과 같은 물리적 요인과 조명(illumination)과 같은 환경적 요인에 따라 인식률이 다르게 나타난다. 본 논문은 카메라에서 입력된 다양한 형태의 영상 왜곡을 보정하여 보행 인식 시스템의 성능 및 안정성을 향상시키는 기법을 제안한다. 제안된 방법은 물리적, 환경적 왜곡 요인이 존재하는 입력 영상에서의 인간의 보행 인식률을 기존 방식과 실험적으로 비교한다. 보다 구체적으로는 투영 변환(projective transform)을 통해 입력 영상의 왜곡을 효과적으로 보정하는 알고리듬을 제안하고 입력 영상의 왜곡 보정 전, 후를 비교하여 알고리듬의 실효성을 확인한다. 제안된 방법은 카메라로부터의 거리 및 환경에 불변하는 보편적인 보행 데이터를 획득하였다. 그 결과 제안된 보편적인 보행 데이터를 이용하여 실내 영상에서는 평균적으로 41.5%, 실외 영상에서는 평균적으로 55.5%의 향상된 보행 인식률을 보였다. 이것은 특정 개체의 특징을 데이터베이스(DB)화 하고 DB에 저장된 특정 개체를 검색하고 추적하는 데 효과적으로 이용될 수 있다.

• 대한기계학회논문집A
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• 제25권3호
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• pp.461-469
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• 2001

Existing area-based stereo algorithms rely heavily on rectangular windows for computing correspondence. While the algorithms with the rectangular windows are efficient, they generate relatively large matching errors due to variations of disparity profiles near depth discontinuities and doesnt take into account local deformations of the windows due to projective distortion. In this paper, in order to deal with these problems, a new correlation function with 4 directional line masks, based on robust estimator, is proposed for the selection of potential matching points. These points is selected to consider depth discontinuities and reduce effects on outliers. The proposed matching method finds an arbitrarily-shaped variable window around a pixel in the 3d array which is constructed with the selected matching points. In addition, the method take into account the local deformation of the variable window with a constant disparity, and perform the estimation of sub-pixel disparities. Experiments with various synthetic images show that the proposed technique significantly reduces matching errors both in the vicinity of depth discontinuities and in continuously smooth areas, and also does not be affected drastically due to outlier and noise.

• 한국정보통신학회논문지
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• 제18권5호
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• pp.1103-1109
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• 2014

디지털 영상 처리 분야에서 사람의 동작 인식은 다양하게 연구되고 있으며, 최근에는 깊이 영상을 이용한 방법이 매우 유용하게 사용되고 있다. 하지만 깊이 측정 센서의 위치와 각도에 따라 깊이 영상에서의 객체 크기나 형태가 왜곡되므로 사물 및 사람의 인식 과정에서 인식률이 감소하는 경우가 발생한다. 따라서 뛰어난 성능을 보장하기 위해서는 측정 센서에 의한 왜곡 보정은 반드시 고려되어야 할 사항이다. 본 논문에서는 동작 인식 시스템의 인식률을 향상시키기 위한 전처리 알고리즘을 제안한다. 깊이 측정 센서로부터 입력되는 깊이 정보를 실제 공간 (Real World)으로 변환하여 왜곡 보정을 수행한 후 투영 공간 (Projective World)으로 변환한다. 최종적으로 제안된 시스템을 OpenCV와 Window 프로그램을 사용하여 구현하였으며 Kinect를 사용하여 실시간으로 성능을 테스트하였다. 또한, Verilog-HDL을 사용하여 하드웨어 시스템을 설계하고, Xilinx Zynq-7000 FPGA Board에 탑재하여 검증하였다.

• 대한공간정보학회지
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• 제10권2호
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• pp.49-56
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• 2002

3D 가상도시 구축에 있어 사용자로 하여금 공간 객체 중심으로 지형 지물을 인식할 수 있게 해 줄 수 있는 요소로서 Texture Image를 들 수 있다. 본 연구에서는 디지틀 카메라를 통하여 건물 측면 Texture Image를 획득하고 이렇게 획득한 이미지가 가지고 있는 왜곡을 2D Projective Transformation방법을 사용하여 보정하였다. 보정이 끝난 Texture Image는 OpenGL을 이용하여 3D 건물 모델에 Mapping을 실시하였다. 본 연구를 통해 개발한 응용 프로그램은 가상도시를 구축하는 과정상에 자동화된 방법을 제공할 수 있다.

• Korean Journal of Geomatics
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• 제2권1호
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• pp.83-89
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• 2002

The cadastral maps as many as about 750,000 map sheets to cover 34,751,000 parcels of land of Korea, are being digitalized. The problem of shrinkage-expansion of the paper cadastral maps has to be resolved for the new digital maps, where the nodes and vertices of the parcel boundaries are represented by coordinates. The photo coordinate refinement techniques, two dimensional projective transformation and local area transformation as in the reseau grid method, were introduced for this distortion correction. Using the fact that original maps drawn on the plane tables in field from 1910 to 1918 have grid lines and have been preserved well, a strategic flow to apply the refinement techniques to the digital maps with the original maps as controls was developed. To accommodate the presence or absence of the original maps and grid lines, and different scales and sizes of the maps, the strategy was implemented by a computer program package. Various distortions and corrections were simulated and errors were evaluated. The RMS errors in the corrected digital maps were allowable, thus, the method developed in this study was to be applicable for the digital cadastral maps.