• Journal of Multimedia Information System
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• 제1권1호
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• pp.1-10
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• 2014

In this paper, we propose a new view synthesis technique for coding of multi-view color and depth data in arbitrary camera arrangements. We treat each camera position as a 3-D point in world coordinates and build clusters of those vertices. Color and depth data within a cluster are gathered into one camera position using a hierarchical representation based on the concept of layered depth image (LDI). Since one camera can cover only a limited viewing range, we set multiple reference cameras so that multiple LDIs are generated to cover the whole viewing range. Therefore, we can enhance the visual quality of the reconstructed views from multiple LDIs comparing with that from a single LDI. From experimental results, the proposed scheme shows better coding performance under arbitrary camera configurations in terms of PSNR and subjective visual quality.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.76-79
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• 2009

This paper investigates the performance of a vehicular rear-view camera through quantifying the image quality based on several objective criteria from the ISO (International Organization for Standardization). In addition, various experimental environments are defined considering the conditions under which a rear-view camera may need to operate. The process for evaluating the performance of a rear-view camera is composed of five objective criteria: noise test, resolution test, OECF (opto-electronic conversion function) test, color characterization test, and pincushion and barrel distortion tests. The proposed image quality quantification method then expresses the results of each test as a single value, allowing easy evaluation. In experiments, the performance evaluation results are analyzed and compared with those for a regular digital camera.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.855-856
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• 2008

In this paper, we studied the performance evaluation of a vehicular rear-view camera through quantifying the image quality based on several objective criteria from the ISO (International Organization for Standardization). In addition, various experimental environments are defined considering the conditions under which a rear-view camera may need to operate. The process for evaluating the performance of a rear-view camera is composed of five objective criteria: noise test, resolution test, OECF (opto-electronic conversion function) test, color characterization test, and pincushion and barrel distortion tests. The proposed image quality quantification method then expresses the results of each test as a single value, allowing easy evaluation.

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.383-389
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• 2000

This paper presents a stereo camera system that provides a Pair of stereo images using a Biprism. The equivalent of a stereo Pair of images is formed as the left and right halves of a single CCD image. The system is therefore cheap and extremely easy to calibrate since it requires only one CCD camera. An additional advantage of the geometrical set-up is that corresponding features lie on the same scanline automatically, The single camera and Biprism have led to a simple stereo system for which correspondence is very easy and which is accurate for nearby objects in a small field of view. Since we use only a single lens, calibration of the system is greatly simplified. Given the parameters in the Biprism-stereo camera system, we can reconstruct the 3-D structure using only the disparity between the corresponding points.

• 대한산업공학회지
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• 제22권2호
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• pp.165-177
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• 1996

This paper presents a navigation method for a mobile robot which can follow a path drawn on a monitor screen. The current position and heading direction of the mobile robot are obtained using a single camera from a single image of the guide mark projected on a convex mirror. This proposed method eliminates the need to rotate or tilt the camera to track the guide mark, because the convex mirror and a stationary camera provide a panoramic view of the surrounding area. As guide marks, fluorescent lamps on the ceiling, door frames, or any other natural line segment can be used without adding any artificial elements to them.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.224-229
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• 2007

This paper presents a camera calibration method using several images for three dimensional measurement applications such as stereo systems, mobile robots, and visual inspection systems in factories. Conventional calibration methods that use single image suffer from errors related to reference point extraction in image, lens distortion, and numerical analysis of nonlinear optimization. The camera parameter values obtained from images of same camera is not same even though we use same calibration method. The camera parameters that are obtained from several images of different view for a calibration target is usaully not same with large error values and we can not assume a special probabilistic distribution when we estimate the parameter values. In this paper, the median value of camera parameters from several images is used to improve estimation of the camera values in an iterative step with nonlinear optimization. The proposed method is proved by experiments using real images.

• 한국멀티미디어학회논문지
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• 제23권8호
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• pp.1088-1098
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• 2020

This paper proposes an obstacle avoidance method using a depth polar grid. Depth information is a crucial factor for determining the safe path for collision-free navigation of unmanned aerial vehicles (UAVs) as it can perceive the distance to the obstacles effectively. However, the existing depth-camera-based approaches for obstacle avoidance require computational y expensive path planning algorithms. We propose a simple navigation method using the polar-grid of the depth information obtained from the camera with narrow field-of-view(FOV). The effectiveness of the approach was validated by a series of experiments using software-in-the-loop simulation in a realistic outdoor environment. The experimental results show that the proposed approach successfully avoids obstacles using a single depth camera with limited FOV.

• 한국시뮬레이션학회논문지
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• 제18권3호
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• pp.73-82
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• 2009

CMOS 카메라는 저가격, 저전력, 소형화의 장점을 이용해 휴대폰카메라, 자동차 산업, 의학 및 센서 네트워크, 로봇제어, 보안 분야의 연구에서 이용되고 있다. 특히 다중카메라(Multi-Camera)기반의 $360^{\circ}$ 전방향 카메라(Omni-directional Camera)의 소프트웨어, 통신간섭 및 지연과 복잡한 영상제어 문제가 있으며, 하드웨어 분야에서는 다중카메라의 효율적인 관리 및 소형화의 문제를 지닌다. 기존 시스템은 다수 카메라를 제어하고 카메라 영상을 송수신하기 위해 카메라별 고성능 MCU로 구성된 임베디드 시스템(embedded system)과 별도의 제어 시스템(control system) 같이 다계층 시스템(Multi-layer system)으로 구성된다. 하지만 본 시스템은 단일구조로 저성능 MCU 기반에 고속 동기화기법으로 카메라 제어 및 영상 수집이 가능하도록 SLAVS(Small size/Low power Around View System)을 제안하였다. 화각 $110^{\circ}$ CMOS 카메라 여러 대를 이용하여 $360^{\circ}$전방향을 촬영하는 저성능 MCU로 카메라의 제어 및 영상 수집이 가능한 전방향 카메라 초기모형이다. 결과적으로 저전력 CMOS 카메라 4대를 하나의 MCU에 연결하여 개별 카메라에 대한 동기 유지, 제어 및 송수신을 구현하고 이를 기존의 시스템과 비교하였다. MCU를 통한 개별 인터럽트 처리로 카메라별 동기를 제어, 기억하여 Target과 CMOS 카메라와 MCU간의 재동기를 최소화하여 데이터 전송의 효율성을 높였다. 또한, 사용자 선택에 따라 4개의 영역으로 구분된 영상을 각기 또는 하나로 Target에 제공할 수 있도록 하였다. 마지막으로 개발된 카메라 시스템의 동기 및 데이터 전송 시간, 이미지 데이터 유실 등의 성능 비교, 분석을 하였다.

• 한국항행학회논문지
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• 제17권1호
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• pp.98-106
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• 2013

본 논문에서는 다시점 카메라 환경에서 비디오 압축 도메인의 이동체 검출 및 추적 방법을 제안한다. 비디오 압축 비트열로부터 추출된 움직임 벡터와 블록 모드를 기반으로 이동블록 검증 및 라벨링, 이웃 blob 결합 알고리즘을 제안한다. 또한, 단일시점 및 다시점 환경에서 이동체의 일시 정지, 교차, 겹침시에도 지속적인 추적이 가능한 일정 시간 구간내 이동체 정보 갱신 기법을 제안한다. 기준 카메라 화면에 나타나지 않는 이동체는 다른 카메라 화면의 이동체 위치로부터 기준 카메라 화면상 좌표로 변환하여 참조하였다. 제안 기법의 성능은 부호기의 움직임 벡터 정밀도에 의존적인데, 두 대의 카메라 환경에서 H.264 JM15.1 압축 비트열로부터 복호화 없이 평균 89%와 84%의 검출률과 추적률을 보였다. 또한, 물체의 일시 정지, 교차, 겹침시에도 지속적인 이동체 검출 및 추적이 가능하며, 단일시점 환경에 비해 다시점 환경에서 평균 6%의 검출률과 7%의 추적률 개선을 확인할 수 있었다.

• ETRI Journal
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• 제45권5호
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• pp.862-873
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• 2023

Determining whether an autonomous self-driving agent is in the middle of an intersection can be extremely difficult when relying on visual input taken from a single camera. In such a problem setting, a wider range of views is essential, which drives us to use three cameras positioned in the front, left, and right of an agent for better intersection recognition. However, collecting adequate training data with three cameras poses several practical difficulties; hence, we propose using data collected from one camera to train a three-camera model, which would enable us to more easily compile a variety of training data to endow our model with improved generalizability. In this work, we provide three separate fusion methods (feature, early, and late) of combining the information from three cameras. Extensive pedestrian-view intersection classification experiments show that our feature fusion model provides an area under the curve and F1-score of 82.00 and 46.48, respectively, which considerably outperforms contemporary three- and one-camera models.