• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.871-875
• /
• 2003

To detect and avoid obstacles is one of the important tasks of mobile navigation. In a real environment, when a mobile robot encounters dynamic obstacles, it is required to simultaneously detect and avoid obstacles for its body safely. In previous vision system, mobile robot has used it as either a passive sensor or an active sensor. This paper proposes a new obstacle detection algorithm that uses a stereo camera as both a passive sensor and an active sensor. Our system estimates the distances from obstacles by both passive-correspondence and active-correspondence using laser slit. The system operates in three steps. First, a far-off obstacle is detected by the disparity from stereo correspondence. Next, a close obstacle is acquired from laser slit beam projected in the same stereo image. Finally, we implement obstacle avoidance algorithm, adopting the modified Dynamic Window Approach (DWA), by using the acquired the obstacle's distance.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.1
• /
• pp.77-88
• /
• 1993

In this paper, we propose a stereo vision system to solve correspondence problem with large disparity and sudden change in environment which result from small distance between camera and working objects. First of all, a specific feature is divided by predfined elementary feature. And then these are combined to obtain coded data for solving correspondence problem. We use Neural Network to extract elementary features from specific feature and to have adaptability to noise and some change of the shape. Fourier transformation and Log-polar mapping are used for obtaining appropriate Neural Network input data which has a shift, scale, and rotation invariability. Finally, we use associative memory to obtain coded data of the specific feature from the combination of elementary features. In spite of specific feature with some variation in shapes, we could obtain satisfactory 3-dimensional data from corresponded codes.

• Journal of the Optical Society of Korea
• /
• v.5 no.3
• /
• pp.90-92
• /
• 2001

Direct and inverse mathematical operators of stereo transformation (stereo operators) are studied in this paper. The stereo operators install a one-to-one correspondence between three dimensional coordinates of any point in space and the stereo coordinates which can be displayed on the screen under the given conditions, i.e. stereo vision base and the position of viewer. The stereo operators can be applied to the analyses of stereoscopic image distortions when the stereo vision base and the position of viewer are changed.

• The KIPS Transactions:PartB
• /
• v.15B no.4
• /
• pp.269-274
• /
• 2008

In this paper, we propose a new stereo correspondence method for generating excellent external energy for snake-based object segmentation methods in stereo images. Our method first generates an edge-based disparity map by performing stereo correspondence between multi-level edge maps of the stereo image pair. Only edges of similar strength are considered for matching. To filter the disparity map for edges of the object of interest, the method estimates the object's disparity value by matching the pattern of edges of the region of interest in the left image against candidate patterns in the right image. The filtered edge map is then used to generate external energy for the snake. The proposed method has been tested on two snake models and results show a noticeable enhancement on performance of the snake when compared with other methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.128.6-128
• /
• 2001

In this paper, we present a methodology of sensing and control for a robot system designed to be capable of grasping an object and moving it to target point Stereo vision system is employed to determine to depth map which represents the distance from the camera. In stereo vision system we have used a center-referenced projection to represent the discrete match space for stereo correspondence. This center-referenced disparity space contains new occlusion points in addition to the match points which we exploit to create a concise representation of correspondence an occlusion. And from the depth map we find the target object´s pose and position in 3-D space. To find the target object´s pose and position, we use the method of the model-based recognition.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.8
• /
• pp.44-53
• /
• 1992

In this paper, a matching method is proposed to improve the correct matching rate in stereo correspondence matching in which the fingerprint of zero-crossing points on the scale-space is used as the robust matching feature. The dynamic programming, which is appropriate for the fingerprint feature, is introduced for correspondence matching. We also improve the matching rate by using the post-processing for correcting mismatched points. In simulation, we apply the proposed algorithm to the synthetic and real images and obtain good matching results.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.31B no.12
• /
• pp.124-131
• /
• 1994

In this paper, we propose a new approach of solving the stereopsis problem with a discrete-time cellular neural network(DTCNN) where each node has connections only with its local neithbors. Because the matching process of stereo correspondence depends on its geometrically local characteristics, the DTCNN is suitable for the stereo correspondence. Moreover, it can be easily implemented in VLSI. Therefore, we employed a two-layer DTCNN with dual templates, which are determined with the back propagation learning rule. Based on evaluation of the proposed approach for several random-dot stereograms, its performance is better than that of the Marr-Poggio algorithm.

• Journal of the Institute of Convergence Signal Processing
• /
• v.12 no.4
• /
• pp.242-249
• /
• 2011

In this paper, the correspondence matching method of stereo images was proposed by means of sampling projective transformation matrix in planar region of scene. Though this study is based on RANSAC, it does not use uniform distribution by random sampling in RANSAC, but use multi non-uniform computed from difference in positions of feature point of image or templates matching. The existing matching method sampled that the correspondence is presumed to correct by use of the condition which the correct correspondence is almost satisfying, and applied RANSAC by matching the correspondence into one to one, but by sampling in stages in multi probability distribution computed for image in the proposed method, the correct correspondence of high probability can be sampled among multi correspondence candidates effectively. In the result, we could obtain many correct correspondence and verify effectiveness of the proposed method in the simulation and experiment of real images.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.3
• /
• pp.116-123
• /
• 1990

Most algorithms utilized the horizontal epipolar lines for solving the correspondence problem in 3-D computer vision. However, the requirement is very difficult to be satisfied in real situations. In this paper, we propose a binocular-stereo matching algorithm, based on line matching method, which does not require the horizontal epipolar lines of the extreme pixels of a given line segment and two circles whose radius is equal to the maximum disparity. And we use the features including the direction of line segments, edge strength and cross-correlation for line matching. The experimental results show that the proposed algorithm can be a useful tool for solving the correspondence problem in 3-D computer vision.

• The KIPS Transactions:PartB
• /
• v.19B no.2
• /
• pp.113-122
• /
• 2012

This paper presents a new stereo matching technique which is based on the matching of feature windows and feature links. The proposed method uses the FAST feature detector to find image features in stereo images and determines the correspondences of the detected features in the stereo images. We define a feature window which is an image region containing several image features. The proposed technique consists of two matching steps. First, a feature window is defined in a standard image and its correspondence is found in a reference image. Second, the corresponding features between the matched windows are determined by using the feature link technique. If there is no correspondence for an image feature in the standard image, it's disparity is interpolated by neighboring feature sets. We evaluate the accuracy of the proposed technique by comparing our results with the ground truth of in a stereo image database. We also compare the matching accuracy and computation time with two conventional feature-based stereo matching techniques.