• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.816-819
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• 2005

This paper proposes a coordinate correction technique using the transformation of 3D parabolic coordinate function and BP(Back Propagation) neural network in order to solve space distortion problem caused by using catadioptric camera. Although Catadioptric camera can obtain omni-directional image at all directions of 360 degrees, it makes an image distorted because of an external form of lens itself. Accordingly, To obtain transformed ideal distance coordinate information from distorted image on 3 dimensional space, we use coordinate transformation function that uses coordinates of a focus at mirror in the shape of parabolic plane and another one which projected into the shape of parabolic from input image. An error of this course is modified by BP neural network algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.7A
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• pp.581-585
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• 2012

This paper proposes an adaptive binarization algorithm which is highly effective for a degraded document image including printed Hangul and Chinese characters. Because of the attribute of character composed of thin horizontal strokes and thick vertical strokes, the conventional algorithms can't easily extract horizontal strokes which have weaker components than vertical ones in the degraded document image. The proposed algorithm solves the conventional algorithm's problem by adding a vertical-directional reference adaptive binarization algorithm to an omni-directional reference one. The simulation results show the proposed algorithm extracts well characters from various degraded document images.

• Journal of Broadcast Engineering
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• v.23 no.4
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• pp.559-573
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• 2018

Recently, one of the most actively applied image media in the most fields such as virtual reality (VR) is omni-directional or panorama image. This image is generated by stitching images obtained by various methods. In this process, it takes the most time to extract keypoints necessary for stitching. In this paper, we analyze the parameters involved in the extraction of SIFT keypoints with the aim of reducing the computation time for extracting the most widely used SIFT keypoints. The parameters considered in this paper are the initial standard deviation of the Gaussian kernel used for Gaussian filtering, the number of gaussian difference image sets for extracting local extrema, and the number of octaves. As the SIFT algorithm, the Lowe scheme, the originally proposed one, and the Hess scheme which is a convolution cascade scheme, are considered. First, the effect of each parameter value on the computation time is analyzed, and the effect of each parameter on the stitching performance is analyzed by performing actual stitching experiments. Finally, based on the results of the two analyses, we extract parameter value set that minimize computation time without degrading.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.34.5-34
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• 2002

In this paper we propose a new method for modeling indoor environment with stereo camera and suggest a localization method for mobile robot navigation on the basis of it. From the viewpoint of easiness in map building and exclusion of artificiality, the main idea of this paper is that environment is represented as global topological map and each node has omni-directional metric and color information by using stereo camera and pan/tilt mechanism. We use the depth and color information itself in image pixel as feature for environmental abstraction. In addition, we use only the depth and color information at horizontal centerline in image, where optical axis is passing. The usefulness of this m...

• Journal of the Korea Computer Graphics Society
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• v.6 no.4
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• pp.15-22
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• 2000

One of the main research trends in image based modeling and rendering is how to implement plenoptic function. For this purpose, this paper proposes a novel approach based on a set of randomly placed panoramas. The proposed approach, first of all, adopts a simple computer vision technique to approximate omni-directional depth information of the surrounding scene, and then corrects/interpolates panorama images to generate an output image at a vantage viewpoint. Implementation results show that the proposed approach achieves smooth navigation at an interactive rate.

• Korean Journal of Remote Sensing
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• v.21 no.2
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• pp.121-133
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• 2005

Texture imaging, which means texture image creation by co-occurrence relation, has been known as one of the useful image analysis methodologies. For this purpose, most commercial remote sensing software provides texture analysis function named GLCM (Grey Level Co-occurrence Matrix). In this study, texture-imaging program based on GLCM algorithm is newly implemented. As well, texture imaging modules for GLDV (Grey Level Difference Vector) are contained in this program. As for GLCM/GLDV Texture imaging parameters, it composed of six types of second order texture functions such as Homogeneity, Dissimilarity, Energy, Entropy, Angular Second Moment, and Contrast. As for co-occurrence directionality in GLCM/GLDV, two direction modes such as Omni-mode and Circular mode newly implemented in this program are provided with basic eight-direction mode. Omni-mode is to compute all direction to avoid directionality complexity in the practical level, and circular direction is to compute texture parameters by circular direction surrounding a target pixel in a kernel. At the second phase of this study, some case studies with artificial image and actual satellite imagery are carried out to analyze texture images in different parameters and modes by correlation matrix analysis. It is concluded that selection of texture parameters and modes is the critical issues in an application based on texture image fusion.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.161-167
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• 2008

This article describes the methods of a decision of the location which user points to move by an optical device like a laser pointer and a moving to that location. Using a conic mirror and CCD camera sensor, a robot observes a spot of user wanted point among an initiative, computes the location and azimuth and moves to that position. This system offers the brief data to a processor with simple devices. In these reason, we can reduce the time of a calculation to process of images and find the target by user point for carrying a robot. User points a laser spot on a point to be moved so that this sensor system in the robot, detecting the laser spot point with a conic mirror, laid on the robot, showing a camera. The camera is attached on the robot upper body and fixed parallel to the ground and the conic mirror.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.499-503
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• 2013

자동차를 위한 전방향(omni-directional) 감시 시스템, 로봇의 시각 역할 등 다양한 비전 시스템에서 카메라가 장착되어 사용되고 있다. AVM(Around View Monitoring) 시스템에서 그리드 패턴의 코너를 검출하기 위해서는 먼저, 광각 카메라에서 획득한 비선형적인 방사 왜곡을 가진 영상의 왜곡 보정 작업을 수행하여야 한다. 이후에 왜곡이 보정된 영상 내부의 그리드 패턴 각 코너들을 자동으로 검출하기 위해서 Sub-Pixel, 허프 변환 등의 여러 가지 방법이 있으며 현재 출시된 AVM 시스템에 직선이나 교점 및 코너 검출을 위해 사용되고 있다. 본 논문에서는 왜곡 보정 영상을 입력 영상으로 받아 그리드 패턴의 코너를 자동으로 검출하는 프로그램을 설계한다. 제안하는 코너 검출 방법을 직접 구현하여 성능을 평가함으로써 AVM 시스템에서 코너를 검출하는 부분에 적용시킬 수 있음을 보인다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.06a
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• pp.15-17
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• 2018

본 논문에서는 시장규모가 점진적으로 커지고 있는 VR의 콘텐츠 제작에 있어서 전방위 영상 생성을 위해 촬영한 영상들을 스티칭하는 데 소요되는 연산량을 감소시키는 방법을 제안한다. 제안하는 방법은 널리 사용되는 SIFT의 알고리즘에서 가장 많은 연산을 차지하는 가우시안 피라미드 생성 부분을 파라미터를 조절하여 감소시키고, 이를 통해 얻은 점들을 스티칭하는데 사용하여 영상을 합성하는 방법이다. 영상에 대한 평가는 변환에 의한 점들의 평균오차를 계산하여 유효성을 판단한다.

• Journal of the Korea Society for Simulation
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• v.18 no.3
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• pp.73-82
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• 2009

Due to the many advantages including low price, low power consumption, and miniaturization, the CMOS camera has been utilized in many applications, including mobile phones, the automotive industry, medical sciences and sensoring, robotic controls, and research in the security field. In particular, the 360 degree omni-directional camera when utilized in multi-camera applications has displayed issues of software nature, interface communication management, delays, and a complicated image display control. Other issues include energy management problems, and miniaturization of a multi-camera in the hardware field. Traditional CMOS camera systems are comprised of an embedded system that consists of a high-performance MCU enabling a camera to send and receive images and a multi-layer system similar to an individual control system that consists of the camera's high performance Micro Controller Unit. We proposed the SL-AVS (Small Size/Low power Around-View System) to be able to control a camera while collecting image data using a high speed synchronization technique on the foundation of a single layer low performance MCU. It is an initial model of the omni-directional camera that takes images from a 360 view drawing from several CMOS camera utilizing a 110 degree view. We then connected a single MCU with four low-power CMOS cameras and implemented controls that include synchronization, controlling, and transmit/receive functions of individual camera compared with the traditional system. The synchronization of the respective cameras were controlled and then memorized by handling each interrupt through the MCU. We were able to improve the efficiency of data transmission that minimizes re-synchronization amongst a target, the CMOS camera, and the MCU. Further, depending on the choice of users, respective or groups of images divided into 4 domains were then provided with a target. We finally analyzed and compared the performance of the developed camera system including the synchronization and time of data transfer and image data loss, etc.