• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.05b
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• pp.109-114
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• 2003

Depth error correction effect for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The camera calibration is a necessary procedure for stereo vision-based depth computation. Intra and extra parameters should be obtain to determine the relation between image and world coordination through experiment. One difficulty is in camera alignment for parallel installation: placing two CCD arrays in a plane. No effective methods for such alignment have been presented before. Some amount of depth error caused from such non-parallel installation of cameras is inevitable. If the pixel distance parameter which is one of intra parameter is calibrated with known points, such error can be compensated in some amount. Such error compensation effect with the calibrated pixel distance parameter is demonstrated with various experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• ETRI Journal
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• v.27 no.2
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• pp.172-180
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• 2005

Image resampling according to epipolar geometry is an important prerequisite for a variety of photogrammetric tasks. Established procedures for resampling frame images according to epipolar geometry are not suitable for scenes captured by line cameras. In this paper, the mathematical model describing epipolar lines in scenes captured by line cameras moving with constant velocity and attitude is established and analyzed. The choice of this trajectory is motivated by the fact that many line cameras can be assumed to follow such a flight path during the short duration of a scene capture (especially when considering space-borne imaging platforms). Experimental results from synthetic along-track and across-track stereo-scenes are presented. For these scenes, the deviations of the resulting epipolar lines from straightness, as the camera's angular field of view decreases, are quantified and presented.

• The Journal of the Korea Contents Association
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• v.10 no.6
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• pp.10-17
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• 2010

This paper presents a calibration method of an omnidirectional stereo camera which may be essentially performed for distance measurement to a certain point. In the calibration of the omnidirectional stereo camera, the independent calibrations of two cameras or the calibration of a stereo camera having the small baseline is feasible applying many methods studied in the past. However, the baseline should be large enough for long distance measurement by the omnidirectional stereo camera, since it is not easy to calibrate two cameras with a large baseline at the same time. It is because a test pattern for the calibration, which is simultaneously captured by two omnidirectional cameras, appears too small in at least one of the omnidirectional cameras. It causes inaccurate calibration. In this paper, therefore, we propose a calibration method of the omnidirectional stereo camera with a large baseline and empirically verify its feasibility.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.3
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• pp.123-132
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• 2021

To determine 3D(three-dimensional) positions using a stereo-camera in close-range photogrammetry, camera calibration to determine not only the interior orientation parameters of each camera but also the relative orientation parameters between the cameras must be preceded. As time passes after performing camera calibration, in the case of non-metric cameras, the interior and relative orientation parameters may change due to internal instability or external factors. In this study, to evaluate the stability of the stereo-camera, not only the stability of two single cameras and a stereo-camera were analyzed, but also the three-dimensional position accuracy was evaluated using checkpoints. As a result of evaluating the stability of two single cameras through three camera calibration experiments over four months, the root mean square error was ±0.001mm, and the root mean square error of the stereo-camera was ±0.012mm ~ ±0.025mm, respectively. In addition, as the results of distance accuracy using the checkpoint were ±1mm, the interior and relative orientation parameters of the stereo-camera were considered stable over that period.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.3
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• pp.380-393
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• 2015

This study presents how we can evaluate stereo camera systems for the structural deformation monitoring. A stereo camera system, consisting of a set of stereo cameras and reflective markers attached on the structure, is introduced for the measurement and the stereo pattern recognition (SPR) method is utilized for the full-field structural deformation estimation. Performance of this measurement system depends on many parameters including types and specifications of the cameras, locations and orientations of them, and sizes and positions of markers; it is difficult to experimentally identify the effects of each parameter on the measurement performance. In this study, a simulation framework for evaluating performance of the stereo camera systems with various parameters has been developed. The maximum normalized root-mean-square (RMS) error is defined as a representative index of stereo camera system performance. A plate structure is chosen for an introductory example. Its several modal harmonic vibrations are generated and estimated in the simulation framework. Two cases of simulations are conducted to see the effects of camera locations and the resolutions of the cameras. An experimental validation is carried out for a few selected cases from the simulations. Using the simultaneous laser displacement sensor (LDS) measurements as the reference, the measurement errors are obtained and compared with the simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.681-686
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• 2003

In this paper, we propose an algorithm to extract valid planar regions from stereo images for visual navigation of mobile robots. The algorithm is based on the difference image between the stereo images obtained by applying Homography matrix between stereo cameras. Illegal planar regions are filtered out by the use of labeling of the difference images and filtering of invalid blobs using the size of each blob. Also, illegal large planar regions such as walls are removed by adopting a weighted low-pass filtering of the difference image using the past difference images. The algorithms are experimented successfully by the use of stereo camera system built in a mobile robot and a PC-based real-time vision system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.268-272
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• 1996

Error correction effect for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The camera calibration is a necessary procedure for stereo vision-based depth computation. Intra and extra parameters should be obtain to determine the relation between image and world coordination through experiment. One difficulty is in camera alignment for parallel installation: placing two CCD arrays in a plane. No effective methods for such alignment have been presented before. Some amount of depth error caused from such non-parallel installation of cameras is inevitable. If the pixel distance parameter which is one of intra parameter is calibrated with known points, such error can be compensated in some amount. Such error compensation effect with the calibrated pixel distance parameter is demonstrated with some experimental results.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2313-2316
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• 2004

Accurate calibration effect for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The camera calibration is a necessary procedure for stereo vision-based depth computation. Intra and extra parameters should be obtain to determine the relation between image and world coordination through experiment. One difficulty is in camera alignment for parallel installation: placing two CCD arrays in a plane. No effective methods for such alignment have been presented before. Some amount of depth error caused from such non-parallel installation of cameras is inevitable. If the pixel distance parameter which is one of intra parameter is calibrated with known points, such error can be compensated in some amount and showed the variable experiments for accurate effects.