• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.265-266
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• 1998

This paper describes a depth extraction algorithm in the stereo endoscopic images using adaptive window. First, The relation between the 3D coordinates in the world and the 2D coordinates in the image plane is estimated using camera calibration. Next, stereo matching is performed to find the conjugate pairs in the left and right images. To improve the precision of the matching result, adaptive window which can be varied on the shape as well as on the size according to the area characteristics is used. Finally, the result from the stereo matching and that of camera modeling are combined to extract the real depth information.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1997.10a
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• pp.147-152
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• 1997

This paper presents a method for measuring and analyzing strains in sheet metal forming by stereo vision system. A better understanding and evaluation of the formability can be achieved by analyzing stain distribution in deformed sheet metals. By means of image processing technique, it is possible to get strain distribution efficiently. For measuring strain automatically and accurately, algorithms for camera calibration, grid detection, stereo matching and strain analysis has been developed and verified by experiments with GUI(Graphic User Interface).

• 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 Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.17-23
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• 2016

This paper presents the implementation of altitude and attitude measurement algorithm using stereo camera for an unmanned aerial vehicle (UAV). Depth images are generated by calibrating the stereo cameras, and converted into 3D point cloud data. By applying a plane fitting algorithm to the resultant point cloud, altitude from ground level, and roll and pitch angles are extracted. To verify the performance, experimental results are provided by comparing with those of the motion caption system.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.7
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• pp.93-99
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• 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 Institute of Electronics and Information Engineers
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• v.54 no.4
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• pp.115-121
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• 2017

In this paper, the intelligent vision system for an effective and intelligent path-planning of an industrial AGV system based on stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the industrial AGV system and the obstacle detected and the 2D path coordinates obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The industrial AGV system move automatically by effective and intelligent path-planning using the obtained 2D path coordinates. From some experiments on AGV system driving with the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 2% on average, respectably.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.7
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• pp.693-701
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• 2010

In this paper, it is proposed that an attitude and position estimation algorithm based on a stereo camera system for a helmet tracker. Stereo camera system consists of two CCD camera, a helmet, infrared LEDs and a frame grabber. Fifteen infrared LEDs are feature points which are used to determine the attitude and position of the helmet. These features are arranged in triangle pattern with different distance on the helmet. Vision-based the attitude and position algorithm consists of feature segmentation, projective reconstruction, model indexing and attitude estimation. In this paper, the attitude estimation algorithm using UQ (Unit Quaternion) is proposed. The UQ guarantee that the rotation matrix is a unitary matrix. The performance of presented algorithm is verified by simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.236-241
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• 2008

This paper presents a method to recognize the plane regions for movement of walking robots. When the autonomous agencies using stereo camera or laser scanning sensor is under unknown 3D environment, the mobile agency has to detect the plane regions to decide the moving direction and perform the given tasks. In this paper, we propose a very fast method for plane detection using normal vector of a triangle by 3 vertices defined on a small circular region. To reduce the effect of noises and outliers, the triangle rotates with respect to the center position of the circular region and generates a series of triangles with different normal vectors based on different three points on the boundary of the circular region. The vectors for several triangles are normalized and then median direction of the normal vectors is used to test the planarity of the circular region. The method is very fast and we prove the performance of algorithm for real range data obtained from a stereo camera system.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Korean Journal of Remote Sensing
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• v.18 no.2
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• pp.81-90
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• 2002

We carried out accuracy assessment for DEM extraction from the KOMPSAT-1 EOC stereo images over Daejeon and Nonsan in Korea. DEM generation divided into two parts. One is camera modeling and the other stereo matching. We used Orun & Natarajan's(1994) model and Gupta & Hartley's(1997) model in the camera modeling step and checked the possibility using Orun & Natarajan and Gupta & Hartley's models in EOC stereo pairs. For stereo matching, we used an algorithms developed in-house for SPOT images and showed that this algorithm could work with EOC images. Using these algorithms, DEMs were successfully generated from EOC images. The comparison of DEM from EOC Images with a DEM from SPOT Images showed that EOC could be used for high-accuracy DEM generation.