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사각영상을 이용한 물체의 고도정보 추출에 관한 연구

A Study on Extraction Depth Information Using a Non-parallel Axis Image

  • 발행 : 1993.12.01

초록

In stereo vision, when we use two parallel axis images, small portion of object is contained and B/H(Base-line to Height) ratio is limited due to the size of object and depth information is inaccurate. To overcome these difficulities we take a non-parallel axis image which is rotated $\theta$ about y-axis and match other parallel-axis image. Epipolar lines of non-parallel axis image are not same as those of parallel-axis image and we can't match these two images directly. In this paper, we transform the non-parallel axis image geometrically with camera parameters, whose epipolar lines are alingned parallel. NCC(Normalized Cross Correlation) is used as match measure, area-based matching technique is used find correspondence and 9$\times$9 window size is used, which is chosen experimentally. Focal length which is necessary to get depth information of given object is calculated with least-squares method by CCD camera characteristics and lenz property. Finally, we select 30 test points from given object whose elevation is varied to 150 mm, calculate heights and know that height RMS error is 7.9 mm.

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참고문헌

  1. IEEE Trans. Pattern anal. Machine Intell. v.15 no.5 Trinocular Active Range-Sensing A.Blake;D.McCowen;H.R.Lo;P.J.Lindsey
  2. IEEE Trans. Pattern anal. Machine Intell. v.12 no.12 Stereon Ranging with Verging Cameras Eric Krotkov;Knud Henriksen;Ralf Kories
  3. ISPRS Intercommision Conference Some Aspects of the Geometric Calibration of CCD-Cameras Horst A. Beyer
  4. IEEE Trans. Pattern anal. Machine Intell. v.15 no.2 An Investigation of Methods for Determining Depth from Focus John Ens;Peter Lawrence