• Journal of Korea Multimedia Society
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• v.20 no.12
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• pp.1865-1873
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• 2017

The feature-based visual SLAM requires 3D positions for the extracted feature points to perform 3D-2D motion estimation. LiDAR can provide reliable and accurate 3D position information with low computational burden, while stereo camera has the problem of the impossibility of stereo matching in simple texture image region, the inaccuracy in depth value due to error contained in intrinsic and extrinsic camera parameter, and the limited number of depth value restricted by permissible stereo disparity. However, the sparsity of LiDAR data may increase the inaccuracy of motion estimation and can even lead to the result of motion estimation failure. Therefore, in this paper, we propose three interpolation methods which can be applied to interpolate sparse LiDAR data. Simulation results obtained by applying these three methods to a visual odometry algorithm demonstrates that the selective bilinear interpolation shows better performance in the view point of computation speed and accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.1C
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• pp.56-63
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• 2003

In this paper, a wavelet-based stereo matching algorithm to obtain an accurate disparity map in wavelet transformed domain by using a shift ability property, a modified wavelet transform, the similarities for their sub-bands, and a hierarchical structure is proposed. New approaches for stereo matching by lots of feature information are to utilize translation-variant results of the sub-bands in the wavelet transformed domain because they cannot literally expect translation invariance in a system based on convolution and sub-sampling. After the similarity matching for each sub-band, we can easily find optimal matched-points because the sub-bands appearance of the shifted signals is definitely different from that of the original signal with no shift.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.2
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• pp.29-36
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• 2003

This paper proposes a new 3D image transmission technique using digital watermarking for compatibility with conventional 2D digital TV. To transmit 3D images effectively, generally, we use image sequence transmission using temporal-spatial redundancy between stereo images. It is difficult for users with conventional digital TV to watch the transmitted 3D image sequence because of effectivity of 3D image compression. To improve such problem, in this paper, we perceive the concealment of new information of digital watermarking and conceal information of the other stereo image into three channels of the reference image. So we can watch the image with 3D TV as well as conventional digital TV when it is decoded.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2011.07a
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• pp.35-38
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• 2011

최근 3DTV 의 급격한 활성화로 스테레오 영상 콘텐츠 제작이 크게 증가하고 있다. 스테레오 영상은 일반 2D 영상과 달리 깊이(depth)가 존재하므로 자막과 같은 그래픽의 삽입에서 그 깊이를 반드시 고려해야 한다. 또한 시각피로를 줄이기 위해 스테레오 촬영 시 영상의 변이맵(disparity map)을 실시간 관찰할 필요성도 요구되고 있다. 본 논문에서는 최신의 그래픽 하드웨어를 이용하여 듀얼스트림 HD 영상을 실시간으로 스테레오 정합하는 방법을 제안한다.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.697-700
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• 1998

스테레오 영상으로부터 3차원 거리 정보를 추출하는 일은 수학적으로 불량 설정 문제(ill-posed problem)이다. 본 논문은 스테레오 정합을 정칙화(regularization)와 최소화(minimization) 문제로 설정하여 변이 (disparity)를 구한다. 최소화할 에너지 함수로 기울기 벡터(gradient vector)를 사용하여 촤우 카메라의 차이에 대응하고, 영상에 존재하는 깊이 불연속점(depth discontinuties)을 찾아내어 이를 보존하면서 정칙화를 실행하는 스테레오 정합 알고리즘을 제시한다. 다양한 스테레오 영상에 대한 실험 결과를 함께 나타내었다.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.701-704
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• 1998

본 논문에서는 스테레오 정합에서 불연속성과 폐색영역을 고려하고 다중 계층 구조를 사용한 relaxation 알고리듬을 이용하여 좌우 영상간의 최적의 정합점을 찾는 스테레오 정합을 구현하였다. 잡음을 제거하기 위해 베이시안 필터링 방법을 사용하였다. 좌우 영상에서 얻은 변이(disparity)를 이용하여 좌우 폐색영역(occlusion region)을 구한 후, 다시 최적의 변이를 얻기 위해 내삼과정을 통해 양쪽의 정보를 상호 보완하는 병렬적인 relaxation 방법을 구현한다. 구현한 방법은 다양한 영상에 적용하였다.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1998.04a
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• pp.151-154
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• 1998

본 논문에서는 스테레오 정합기법을 이용하여 2차원 물체의 형상정보로부터 3차원 형상정보를 자동 추출하는 시스템을 제안한다. 본 논문에서는 정확한 3차원 형상추출을 위해서 밝기값기반 방법과 특징기반 방법의 장점을 살려 두 방법을 통합 사용하였다. 또한, 오정합을 최소화하고 처리속도를 향상시키기 위해서Coarst-to-fine 방법을 적용하였다. 제안한 방법에 의해 도출된 변이영상(Disparity map)은 3차원 그래픽을 이용하여 모델링에 적용함으로써 3차원 형상정보 추출의 타당성 및 가상공간에서의 적용 가능성을 보였다.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1014-1017
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• 2009

The analytical expression for quality function is found including the dependence on disparity. The problem is considered in the projective coordinates for which the forward and backward transformation matrices are found. The formation of side observer regions is considered. The probability of the pseudo stereo effect is also estimated. Testing patterns are improved in order to provide higher accuracy of measurements. This is confirmed in experiments.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.2
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• pp.92-98
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• 2017

Generally, image contains geometrical and radiometric errors. Census transform can solve the stereo mismatching problem caused by the radiometric distortion. Since the general census transform compares center of window pixel value with neighbor pixel value, it is hard to obtain an accurate matching result when the difference of pixel value is not large. To solve that problem, we propose a census transform method that applies different 4-step weight for each pixel value difference by applying an assistance window inside the window kernel. If the current pixel value is larger than the average of assistance window pixel value, a high weight value is given. Otherwise, a low weight value is assigned to perform a differential census transform. After generating an initial disparity map using a weighted census transform and input images, the gradient information is additionally used to model a cost function for generating a final disparity map. In order to find an optimal cost value, we use guided filtering. Since the filtering is performed using the input image and the disparity image, the object boundary region can be preserved. From the experimental results, we confirm that the performance of the proposed stereo matching method is improved compare to the conventional method.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.2
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• pp.177-185
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• 1998

There is an increasing request for 3D data and outlines on building for urban planning and design. This paper describes an approach to extract building using Digital Surface Models(DSM) and stereo pairs of aerial images. DSM contain informations not only about the topographic surface like Digital Elevation Models(DEM), but also about buildings and other objects higher than the surrounding topographic surface, e.g. tees. We therefore describe our approach consisting of two step procedures. The first step of the approach is to generate DSM by stereo matching using Maximum Likelihood Estimation and Dynamic Programming. The proposed stereo matching is using the cost function for finding the disparity between the left and right image, and the Dynamic Programming for solving the stereo matching problem. The second step is to detect building outlines using the DSM and the edge informations extracted from a digital aerial image by Sobel Operator. The overlay analysis of the DSM and the edge information by Sobel Operator was efficient to detect building outlines.