Journal of the Institute of Electronics Engineers of Korea SP (대한전자공학회논문지SP)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Omnidirectional Camera Motion Estimation Using Projected Contours

사영 컨투어를 이용한 전방향 카메라의 움직임 추정 방법

  • Hwang, Yong-Ho (Dept. of Image Eng., Graduate School of Advanced Imaging Science Multimedia & Film, Chung-Ang Univ.) ;
  • Lee, Jae-Man (Dept. of Image Eng., Graduate School of Advanced Imaging Science Multimedia & Film, Chung-Ang Univ.) ;
  • Hong, Hyun-Ki (Dept. of Image Eng., Graduate School of Advanced Imaging Science Multimedia & Film, Chung-Ang Univ.)
  • 황용호 (중앙대학교 첨단영상대학원 영상공학과) ;
  • 이재만 (중앙대학교 첨단영상대학원 영상공학과) ;
  • 홍현기 (중앙대학교 첨단영상대학원 영상공학과)
  • Published : 2007.09.25
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Abstract

Since the omnidirectional camera system with a very large field of view could take many information about environment scene from few images, various researches for calibration and 3D reconstruction using omnidirectional image have been presented actively. Most of line segments of man-made objects we projected to the contours by using the omnidirectional camera model. Therefore, the corresponding contours among images sequences would be useful for computing the camera transformations including rotation and translation. This paper presents a novel two step minimization method to estimate the extrinsic parameters of the camera from the corresponding contours. In the first step, coarse camera parameters are estimated by minimizing an angular error function between epipolar planes and back-projected vectors from each corresponding point. Then we can compute the final parameters minimizing a distance error of the projected contours and the actual contours. Simulation results on the synthetic and real images demonstrated that our algorithm can achieve precise contour matching and camera motion estimation.

넓은 시야각을 갖는 전방향(omnidirectional) 카메라 시스템은 적은 수의 영상으로도 주변 장면에 대해 많은 정보를 취득할 수 있는 장점으로 카메라 교정(calibration), 공간의 3차원 재구성(reconstruction) 등에 널리 응용되고 있다. 실 세계에 존재하는 직선 성분들은 전방향 카메라 모델에 의해 컨투어로 사영(projection)되기 때문에, 영상간에 대응되는 컨투어 성분은 카메라의 회전 및 이동 등의 추정에 효과적으로 활용될 수 있다. 본 논문에서는 전방향 카메라의 변환 파라미터를 추정하기 위한 2단계 최소화 알고리즘이 제안된다. 제안된 알고리즘은 컨투어를 이루는 대응점에 대한 에피폴라(epipolar) 평면과 3차원 벡터간의 각도 오차함수 및 사영된 컨투어의 거리 오차를 단계별로 최소화하는 카메라 파라미터를 계산한다. 등거리(equidistance) 사영된 합성영상과 어안렌즈(fisheye lens)로 취득한 실제 영상을 대상으로 제안된 알고리즘이 카메라의 위치 정보를 정확하게 추정함을 확인하였다.

Keywords

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