• 한국측량학회지
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• 제32권3호
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• pp.191-204
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• 2014

In recent years, multi-camera systems have been recognized as an affordable alternative for the collection of 3D spatial data from physical surfaces. The collected data can be applied for different mapping(e.g., mobile mapping and mapping inaccessible locations)or metrology applications (e.g., industrial, biomedical, and architectural). In order to fully exploit the potential accuracy of these systems and ensure successful manipulation of the involved cameras, a careful system calibration should be performed prior to the data collection procedure. The calibration of a multi-camera system is accomplished when the individual cameras are calibrated and the geometric relationships among the different system components are defined. In this paper, a new single-step approach is introduced for the calibration of a multi-camera system (i.e., individual camera calibration and estimation of the lever-arm and boresight angles among the system components). In this approach, one of the cameras is set as the reference camera and the system mounting parameters are defined relative to that reference camera. The proposed approach is easy to implement and computationally efficient. The major advantage of this method, when compared to available multi-camera system calibration approaches, is the flexibility of being applied for either directly or indirectly geo-referenced multi-camera systems. The feasibility of the proposed approach is verified through experimental results using real data collected by a newly-developed indirectly geo-referenced multi-camera system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.451-452
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• 2006

In this paper, we present a 3D reconstruction method using multi-camera. This method is very compact algorithm so that can be implemented easily on small hardware architecture. By using multi-camera, it gives exacter result than existing method and we propose accurate index for each matching nodes to use multi-camera.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.1-6
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• 2009

Due to the different camera properties of the multi-view camera system, the color properties of captured images can be inconsistent. This inconsistency makes post-processing such as depth estimation, view synthesis and compression difficult. In this paper, the method to correct the different color properties of multi-view images is proposed. We utilize a gray gradient bar on a display device to extract the color sensitivity property of the camera and calculate a look-up table based on the sensitivity property. The colors in the target image are converted by mapping technique referring to the look-up table. Proposed algorithm shows the good subjective results and reduces the mean absolute error among the color values of multi-view images by 72% on average in experimental results.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
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• pp.50-53
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• 2003

본 논문에서는 multi-camera를 이용한 인터넷 기반의 지능적 감시 시스템을 제안한다. 제안된 시스템은 두 종류의 카메라, static camera와 pan-tilt camera, 를 이용하여 출입구를 감시하고, 비인가자를 추적한다. static camera는 출·입을 검출하고 출입자를 인가자와 비인가자로 분류하는데 이용되고, pan-tilt camera는 비인가자로 분류된 출입자를 추적하는데 이용된다. 제안된 시스템은 세 가지 단계: 출입구 감시, 출입자 검출 및 분류(인가자/비인가자), 비인가자 추적으로 구성된다 출입구 감시는 출입문의 밝기값 변화를 이용한다 출입자 검출 및 분류는 skin color 모델과 얼굴 크기, 위치와 관련된 휴리스틱을 이용하여 얼굴을 검출하고, PCA(Principal Component Analysis)를 이용한 eigenspace상에서의 유클리디언 디스턴스로 템플릿 얼굴과 입력 얼굴의 유사도를 계산하여 인가자인지 비인가자인지 분류한다. 비인가자 추적은 pan-tilt 카메라를 이용하여, static camera에서 분류된, 비인가자의 움직임을 검출하고 카메라를 제어함으로써 추적한다 제안된 시스템은 무인 감시 상황에서 비인가자의 출입시 감시자에게 경고 신호를 제공하고, 감시지역에서 사건 발생시, 사건의 개요를 파악하는 중요한 정보를 빠른 시간에 제공할 수 있다는 장점을 가진다.

• 로봇학회논문지
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• 제17권3호
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권6호
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• pp.2689-2708
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• 2016

Multi-camera systems which integrate two or more low-cost digital cameras are adopted to reach higher ground coverage and improve the base-height ratio in low altitude remote sensing. To guarantee accurate multi-camera integration, the geometric relationship among cameras must be determined through platform calibration techniques. This paper proposed a combined two-step platform calibration method. In the first step, the static platform calibration was conducted based on the stable relative orientation constraint and convergent conditions among cameras in static environments. In the second step, a dynamic platform self-calibration approach was proposed based on not only tie points but also straight lines in order to correct the small change of the relative relationship among cameras during dynamic flight. Experiments based on the proposed two-step platform calibration method were carried out with terrestrial and aerial images from a multi-camera system combined with four consumer-grade digital cameras onboard an unmanned aerial vehicle. The experimental results have shown that the proposed platform calibration approach is able to compensate the varied relative relationship during flight, acquiring the mosaicing accuracy of virtual images smaller than 0.5pixel. The proposed approach can be extended for calibrating other low-cost multi-camera system without rigorously mechanical structure.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2010년 춘계학술발표회 논문집
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• pp.53-56
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• 2010

항공용 Multi-looking 카메라는 1대의 사진기 몸체에 5대의 카메라를 설치하여 동시에 1장의 연직사진과 4개의 경사사진을 획득하므로, 연직방향으로 촬영된 일반 항공사진에 비해 현장에 대한 다양한 정보를 제공한다. 그러나 3차원 공간정보 구축시 다각사진촬영시스템은 대형CCD를 사용하는것이 아니라 중형CCD를 사용하므로, 주요대상물의 전후좌우 영상을 취득하려면, 촬영시 중복도 설정을 고려하여야 하며, 특히 Sideward-looking 카메라의 경우 횡중복도 설정에 의해 특정대상물 촬영 여부를 확인할 수 있다. 이에 본 연구에서는 촬영시 횡중복도 변화에 의한 다각사진의 Sideward Footprint 및 촬영의 효율성에 대하여 분석하였다.

• 한국측량학회지
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• 제26권4호
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• pp.351-357
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• 2008

항공용 Multi-looking 카메라는 1대의 사진기 몸체에 5대의 카메라를 설치하여 동시에 1장의 연직사진과 4개의 경사사진을 획득하므로, 연직방향으로 촬영된 일반 항공사진에 비해 현장에 대한 다양한 정보를 제공한다. 연직사진용 카메라에 대한 경사사진용 카메라의 기하학적 관계는6개의 외부표정요소에 의해 모델링 될 수 있으며, 그 기하학적 관계가 결정되면 경사사진에 대한 외부표정요소는 연직사진의 외부표정요소로부터 계산될 수 있다. Multi-looking 카메라에서의 연직카메라와 경사카메라의 상대적 외부표정요소를 검사하기 위하여, 실내 캘리브레이션 타깃을 설치한 후 하나의 비측정용 디지털카메라를 사용하여 세 지점에서 촬영방향 바꿔가며 14장의 사진을 취득하였다. 카메라 자체검정에 의해 카메라의 내부표정요소와 각 사진에 대한 외부표정요소가 추정되었고, 연직사진에 대한 경사사진의 상대적 외부표정요소가 각 사진에 대한 외부표정요소로부터 계산되었다. 상대적 외부표정요소 중 회전각과 투영중심점 위치에 대한 오차가 지상좌표 추정에 미치는 영향이 각각 분석되었다.

• 수산해양기술연구
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• 제47권2호
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• pp.146-152
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• 2011

Underwater CCTV camera systems are increasingly replaced the traditional net approach of assessing the species, numbers and aggregation patterns of marine animals distributing around the artificial reefs installed in the inshore fishing grounds, in particular, in relation to the biological investigation of behavior and distribution patterns of target fishes. In relation to these needs, we developed a multi-directional underwater CCTV camera system to use in detecting and tracking marine animals in the artificial reef ground. The marine targets to be investigated were independently tracked by using a camera module toward the bottom and four camera modules installed in the interval of $90^{\circ}$ in horizontal plane and inclination of $45^{\circ}$ in vertical plane of the CCTV system without the overlap of video frames by each camera module. From the results of several field tests at sea, we believe that the developed multi-directional underwater CCTV camera system will contribute to a better understanding in evaluating the effect of artificial reefs installed in the inshore fishing grounds.

• Nuclear Engineering and Technology
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• 제51권2호
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• pp.533-538
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• 2019

The mechanical-collimation imaging is the most mature technology in prompt gamma (PG) imaging which is considered the most promising technology for beam range verification in proton therapy. The purpose of the present study is to compare the performances of two mechanical-collimation PG cameras, knife-edge (KE) camera and multi-slit (MS) camera. For this, the PG cameras were modeled by Geant4 Monte Carlo code, and the performances of the cameras were compared for imaginary point and line sources and for proton beams incident on a cylindrical PMMA phantom. From the simulation results, the KE camera was found to show higher counting efficiency than the MS camera, being able to estimate the beam range even for $10^7$ protons. Our results, however, confirmed that in order to estimate the beam range correctly, the KE camera should be aligned, at least approximately, to the location of the proton beam range. The MS camera was found to show lower efficiency, being able to estimate the beam range correctly only when the number of the protons is at least $10^8$. For enough number of protons, however, the MS camera estimated the beam range correctly, errors being less than 1.2 mm, regardless of the location of the camera.