• Journal of Bio-Environment Control
• /
• v.10 no.3
• /
• pp.172-180
• /
• 2001

A grape fruit is required for a lot of labor to harvest in time in Korea, since the fruit is cut and grabbed currently by hand. In foreign country, especially France, a grape harvester has been developed for processing to make wine out of a grape, not to eat a fresh grape fruit. However, a harvester which harvests to eat a fresh grape fruit has not been developed yet. Therefore, this study was designed and constructed to develope a image processing system for a fresh grape harvester. Its development involved the integration of a vision system along with an personal computer and two cameras. Grape recognition, which was able to found the accurate cutting position in three dimension by the end-effector, needed to find out the object from the background by using two different images from two cameras. Based on the results of this research the following conclusions were made: The model grape was located and measured within less than 1,100 mm from camera center, which means center between two cameras. The distance error of the calculated distance had the distance error within 5mm by using model image in the laboratory. The image processing system proved to be a reliable system for measuring the accurate distance between the camera center and the grape fruit. Also, difference between actual distance and calculated distance was found within 5 mm using stereo vision system in the field. Therefore, the image processing system would be mounted on a grape harvester to be founded to the position of the a grape fruit.

• Journal of KIISE:Computer Systems and Theory
• /
• v.33 no.6
• /
• pp.354-362
• /
• 2006

This paper suggests a method for generating high qualify stereo video avatar to support visual communication in a CAVE$^{TM}$-like system. In such a system because of frequent change of light projected onto screens around user, it is not easy to extract user silhouette robustly, which is an essential step to generate a video avatar. In this study, we use an infrared reflective image acquired by a grayscale camera with a longpass filter so that the change of visible light on a screen is blocked to extract robust user silhouette. In addition, using two color cameras positioned at a distance of a binocular disparity of human eyes, we acquire two stereo images of the user for fast generation and stereoscopic display of a high quality video avatar without 3D reconstruction. We also suggest a fitting algorithm of a silhouette mask on an infrared reflective image into an acquired color image to remove background. Generated stereo images of a video avatar are texture mapped into a plane in virtual world and can be displayed in stereoscopic using frame sequential stereo method. Suggested method have advantages that it generates high quality video avatar taster than 3D approach and it gives stereoscopic feeling to a user 2D based approach can not provide.

• Journal of Korea Multimedia Society
• /
• v.16 no.6
• /
• pp.764-781
• /
• 2013

In this paper, we propose a highly precise vehicle detection method with low false alarm using billboard sweep stereo matching and multi-stage hypothesis generation. First, we capture stereo images from cameras established in front of the vehicle and obtain the disparity map in which the regions of ground plane or background are removed using billboard sweep stereo matching algorithm. And then, we perform the vehicle detection and tracking on the labeled disparity map. The vehicle detection and tracking consists of three steps. In the learning step, the SVM(support vector machine) classifier is obtained using the features extracted from the gabor filter. The second step is the vehicle detection which performs the sobel edge detection in the image of the left camera and extracts candidates of the vehicle using edge image and billboard sweep stereo disparity map. The final step is the vehicle tracking using template matching in the next frame. Removal process of the tracking regions improves the system performance in the candidate region of the vehicle on the succeeding frames.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.1
• /
• pp.89-101
• /
• 2015

This paper proposes a statistical model of 3-D positions when tracking moving targets using the uncooled infrared (IR) stereo camera system. The proposed model is derived from two errors. One is the position error which is caused by the sampling pixels in the digital image. The other is the timing jitter which results from the irregular capture-timing in the infrared cameras. The capture-timing in the IR camera is measured using the jitter meter designed in this paper, and the observed jitters are statistically modeled as Gaussian distribution. This paper derives an integrated probability distribution by combining jitter error with pixel position error. The combined error is modeled as the convolution of two error distributions. To verify the proposed statistical position error model, this paper has some experiments in tracking moving objects with IR stereo camera. The 3-D positions of object are accurately measured by the trajectory scanner, and 3-D positions are also estimated by stereo matching from IR stereo camera system. According to the experiments, the positions of moving object are estimated within the statistically reliable range which is derived by convolution of two probability models of pixel position error and timing jitter respectively. It is expected that the proposed statistical model can be applied to estimate the uncertain 3-D positions of moving objects in the diverse fields.

• The KIPS Transactions:PartB
• /
• v.10B no.2
• /
• pp.151-156
• /
• 2003

The vergence control method is presented for a parallel-axls stereo camera (PASC) using a signal processing technique such as shift, (rotation), and scaling. The PASC is considered as the simplest one of binocular stereo cameras. However, its major limitation lies in the controllability of vergence since its left and right imaging sensors of CCDs are fixed. On the other hand, a horizontal-moving-axis stereo camera (HMASC) with movable imaging sensors is able to control the vergence by moving its CCDs horizontally. In spite of its vergence controllability, there is a major drawback in the implementation because of complicated mechanical structure and the additional cost. To overcome the vergence control problem of the PASC, an operational principle of the HMASC is applied to the PASC. To be specific, without any additional hardware the vergence control problem of the PASC is solved with the signal processing technique. Assuming the virtual displacement between CCD's, a disappearing part of acquired images is removed and the original image site is recovered via interpolation. Experimental results show that the vergence control between stereo images captured by the PASC it possible with an acceptable degradation of the image quality defending on the virtual displacement of CCDs.

• Journal of the Korea Computer Graphics Society
• /
• v.19 no.4
• /
• pp.1-11
• /
• 2013

In this paper, we represented the HTML5 webpage in 3D space for the 3D stereoscopic display by using CSS3 stylesheet; browser-based declarative contents, and proposed CSS Stereo 3DTV Profile. First, we suggested various webpage separation methods for reconstructing webpages in the 3D space effectively. Next, we suggested 3D view volume setting method by using extended CSS3 modules. And then, pre-processor converts sample contents which is written extended CSS stylesheet into the present CSS stylesheet for displaying in the webkit based browser. For the resulting stereoscopic images, we developed a rendering engine emulator which is implemented in JavaScript for simple display in the web browser, which produced dual images from virtual left and right-eyed cameras. And we have checked the sample contents displayed on the 3DTV.

• Journal of Biomedical Engineering Research
• /
• v.19 no.5
• /
• pp.531-538
• /
• 1998

This paper represents the design of 3D endoscopic image processing system in order to Improve visualization and enhance the ability of the surgeon to perform delicate endoscopic surgery. The proposed 3D systems have four features of stereo endoscopic image processing The multiplexer give field seauential stereo for recording and for aligning cameras and viewing stereo with 3D monitor. Demultiplexing of the field sequential image which separates out the R and L images for dual TFT-LCD 3D monitor viewed with passive polarized glasses. separable processing of the left and right eye images, and design of TFT-LCD 3D monitor. The viewing angle, zone, and image quality of the Polarization-type Stereoscopic Display (SM500TFT-3D) system which we have developed using 15 Samsung TFT-1.CD with a screen resolution of 1024×768 pixels were measured and compared with those of Electric Shutter-type Stereoscopic Display system. The result of experiments shows that the Polarization-type Stereoscopic Display System using TFT-LCD has a wade viewing angle and zone which Is necessary fort multi-view and it has better image quality and stability of the optical performances than the Electric Shutter-type does.

• The KIPS Transactions:PartB
• /
• v.15B no.1
• /
• pp.9-16
• /
• 2008

In this paper, we present an algorithm for synthesizing intermediate view image from a stereoscopic pair of images. An image of multiview is need for people in order to easily recognize 3D image. However, if many cameras are use for that, not only does system get more complicated but also transmission rating cause a big trouble. Hence, stereo images are photograph and issue on the sending side and algorithm to generate several intermediate view image is able to be use on the receiving side. The proposed method is based on disparity space image. First of all, disparity space image that is depicted by the gap of pixel followed by disparity of stereo image is generated. Disparity map is made by utilizing disparity space image for searching for optimal disparity path then eventual intermediate view image is generated after occlusion region which does not match is processed. Experimental results illustrate the performance of the proposed technique and we obtained a high quality image of more than 30 dB PSNR.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.7
• /
• pp.93-99
• /
• 2015

In this paper, we propose a gaze correction method for realistic video teleconferencing. Typically, cameras used in teleconferencing are installed at the side of the display monitor, but not in the center of the monitor. This system makes it too difficult for users to contact each eyes. Therefore, eys contact is the most important in the immersive videoconferencing. In the proposed method, we use the stereo camera and the depth camera to correct the eye contact. The depth camera is the kinect camera, which is the relatively cheap price, and estimate the depth information efficiently. However, the kinect camera has some inherent disadvantages. Therefore, we fuse the kinect camera with stereo camera to compensate the disadvantages of the kinect camera. Consecutively, for the gaze-corrected image, view synthesis is performed by 3D warping according to the depth information. Experimental results verify that the proposed system is effective in generating natural gaze-corrected images.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.36 no.4
• /
• pp.287-293
• /
• 2018

It is prerequisite to generate epipolar resampled images by reducing the y-parallax for accurate and efficient processing of satellite stereo images. Minimizing y-parallax requires the accurate sensor modeling that is carried out with ground control points. However, the approach is not feasible over inaccessible areas where control points cannot be easily acquired. For the case, a relative orientation can be utilized only with conjugate points, but its accuracy for satellite sensor should be studied because the sensor has different geometry compared to well-known frame type cameras. Therefore, we carried out the bias-compensation of RPCs (Rational Polynomial Coefficients) without any ground control points to study its precision and effects on the y-parallax in epipolar resampled images. The conjugate points were generated with stereo image matching with outlier removals. RPCs compensation was performed based on the affine and polynomial models. We analyzed the reprojection error of the compensated RPCs and the y-parallax in the resampled images. Experimental result showed one-pixel level of y-parallax for Kompsat-3 stereo data.