• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.397-404
• /
• 2011

This paper proposes an algorithm capable of extracting corresponding points between a pair of stereo images based on dynamic programming. The purpose of extracting the corresponding points is to provide the stereo disparity data to a road-slope estimation algorithm with high accuracy and in real-time. As the road-slope estimation algorithm does not require dense disparity data, the proposed stereo matching algorithm aims at extracting corresponding points accurately and quickly. In order to realize this contradictory goal, this paper exploits dynamic programming, and minimizes matching candidates using vertical components of color edges. Furthermore, the typical occlusion problem in stereo vision is solved. The proposed algorithm is proven to be effective through experiments with various images captured on the roads.

• Communications for Statistical Applications and Methods
• /
• v.12 no.1
• /
• pp.149-167
• /
• 2005

The minimum disparity estimators introduced by Lindsay and Basu (1994) are studied empirically. An extensive simulation in this paper provides a location estimate of the small sample and supplies empirical evidence of the estimator performance for the univariate contaminated normal model. Empirical results show that the minimum generalized negative exponential disparity estimator (MGNEDE) obtains high efficiency for small sample sizes and dominates the maximum likelihood estimator (MLE) and the minimum blended weight Hellinger distance estimator (MBWHDE) with respect to efficiency at the contaminated model.

• Proceedings of the IEEK Conference
• /
• 1998.10a
• /
• pp.143-146
• /
• 1998

A new stereoscopic codec. structure using MPEG-2 multiview profile is presented in this paper. In the suggested codec., the left image is coded with motion estimation in the base layerand the right image is coded with disparity estimation in the enhancement layer. Since it is possible to calculate rough motion of the right image sequence with disparity and motion of the left image sequence, motion compensation of the enhancement layer is performed without motion estimation. Since the proposed codec. does not perform motion estimation in the enhancement layer encoding, it is simple and reduces the encoding time. We compared the PSNR of encoded image with three different structured codec., and the experimental results show that suggested codec. has comparable with other codecs.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.3 no.3
• /
• pp.143-150
• /
• 2008

In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.6C
• /
• pp.848-856
• /
• 2004

In this paper, a fast stereo matching algorithm based on pixel-wise matching strategy, which can get a stable and accurate disparity map, is proposed. Since a stereo image pair has small differences each other and the differences between left and right images are just caused by horizontal shifts with some order, the matching using a large window will not be needed within a given search range. However, disparity results of conventional pixel-based matching methods are somewhat unstable and wrinkled, the principal direction of disparities is checked by the accumulated cost along a path on array with the dynamic programming method. Experimental results showed that the proposed method could remove almost all disparity noise and set a good quality disparity map in very short time.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.34 no.11C
• /
• pp.1029-1039
• /
• 2009

In this paper, the existing disparity aquisition algorithms were analyzed, on the bases of which a disparity generation technique that is superior in accuracy to the generation time was proposed. Basically it uses a pixel-by-pixel motion estimation technique. It has a merit of possibility of a high-speed operation. But the motion estimation technique has a disadvantage of lower accuracy because it depends on the similarity of the matching window regardless of the distribution characteristics of the texture in an image. Therefore, an enhanced technique to increase the accuracy of the disparity is required. This paper introduced a variable-sized window matching technique for this requirement. By the proposed technique, high accuracies could be obtained at the homogeneous regions and the object edges. A hardware to generate disparity image was designed, which was optimized to the processing speed so that a high throughput is possible. The hardware was designed by Verilog-HDL and synthesized using Hynix $0.35{\mu}m$ CMOS cell library. The designed hardware was operated stably at 120MHz using Cadence NC-VerilogTM and could process 15 frames per second at this clock frequency.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.27 no.2A
• /
• pp.137-145
• /
• 2002

In the method of 3D modeling, stereo matching method which obtains three dimensional depth information from the two images is taken from the different view points. In general, it is very essential work for the 3D modeling from 2D stereo images to estimate the exact disparity through fading the conjugate pair of pixel from the left and right image. In this paper to solve the problems of the stereo image disparity estimation, we introduce a novel approach method to improve the exactness and efficiency of the disparity. In the first place, we perform a wavelet transformation of the stereo images and set the reference points in the image by the feature-based matching method. This reference points have very high probability over 95 %. In the base of these reference points we can decide the size of the variable block searching windows for estimating dense disparity of area based method and perform the ordering constraint to prevent mismatching. By doing this, we could estimate the disparity in a short time and solve the occlusion caused by applying the fried-sized windows and probable error caused by repeating patterns.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.8
• /
• pp.156-167
• /
• 1995

In this paper, we propose a 3-D range finding method for situation that stereo camera has small translational motion. Binocular stereo generally tends to produce stereo correspondence errors and needs huge amount of computation. The former drawback is because the additional constraints to regularize the correspondence problem are not always true for every scene. The latter drawback is because they use either correlation or optimization to find correct disparity. We present a method which overcomes these drawbacks by moving the stereo camera actively. The method utilized a motion parallax acquired by monocular motion stereo to restrict the search range of binocular disparity. Using only the uniqueness of disparity makes it possible to find reliable binocular disparity. Experimental results with real scene are presented to demonstrate the effectiveness of this method.

• Journal of Broadcast Engineering
• /
• v.12 no.2
• /
• pp.128-136
• /
• 2007

Since the multi-view video is a set of video sequences captured by multiple array cameras for the same three-dimensional scene, it can provide multiple viewpoint images using geometrical manipulation and intermediate view generation. Although multi-view video allows us to experience more realistic feeling with a wide range of images, the amount of data to be processed increases in proportion to the number of cameras. Therefore, we need to develop efficient coding methods. One of the possible approaches to multi-view video coding is to generate an intermediate image using view interpolation method and to use the interpolated image as an additional reference frame. The previous view interpolation method for multi-view video coding employs fixed size block matching over the pre-determined disparity search range. However, if the disparity search range is not proper, disparity error may occur. In this paper, we propose an efficient view interpolation method using initial disparity estimation, variable block-based estimation, and pixel-level estimation using adjusted search ranges. In addition, we propose a multi-view video coding method based on H.264/AVC to exploit the intermediate image. Intermediate images have been improved about $1{\sim}4dB$ using the proposed method compared to the previous view interpolation method, and the coding efficiency have been improved about 0.5 dB compared to the reference model.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.1C
• /
• pp.55-64
• /
• 2006

In this paper, a new web-based remote 3D imaging communication system employing an adaptive matching algorithm is suggested. In the proposed method, feature values are extracted from the stereo image pair through estimation of the disparity and similarities between each pixel of the stereo image. And then, the matching window size for disparity estimation is adaptively selected depending on the magnitude of this feature value. Finally, the detected disparity map and the left image is transmitted into the client region through the network channel. And then, in the client region, right image is reconstructed and intermediate views be synthesized by a linear combination of the left and right images using interpolation in real-time. From some experiments on web based-transmission in real-time and synthesis of the intermediate views by using two kinds of stereo images of 'Joo' & 'Hoon' captured by real camera, it is analyzed that PSNRs of the intermediate views reconstructed by using the proposed transmission scheme are highly measured by 30dB for 'Joo', 27dB for 'Hoon' and the delay time required to obtain the intermediate image of 4 view is also kept to be very fast value of 67.2ms on average, respectively.