• Current Optics and Photonics
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• 제1권4호
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• pp.336-343
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• 2017

A wide field-of-view (FOV) image contains more visual information than a conventional image. This study proposes a new type of hyperbolic mirror for wide FOV image acquisition. The proposed mirror consists of a hyperbolic cylindrical section and a bowl-shaped hyperbolic omnidirectional section. Using an imaging system with this mirror, it is possible to achieve a $213.8^{\circ}$ horizontal and a $126.94^{\circ}$ vertical maximum FOV. Parameters of each section of the mirror are designed to be continuous at the junction of the two parts, and the resultant image is seamless. The image-acquisition model is obtained using ray-tracing optics. To rectify the geometrical distortion of the original image due to the mirror, an image-restoration algorithm based on conformal projection is presented in this study. The performance of the proposed imaging system with the hyperbolic mirror and its image-restoration algorithm are verified by experiments.

• 한국정보과학회논문지:소프트웨어및응용
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• 제36권8호
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• pp.653-663
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• 2009

본 논문에서는 세 대의 카메라를 이용하여 사각지대를 효과적으로 제거하기 위한 파노라믹 비전 시스템(panoramic vision system)을 제안한다. 차량의 후방에는 광각 카메라를 사용하여 후방 거울(rear-view mirror)로부터 보이지 않는 사각지대를 제거하며, 나머지 두 대의 카메라는 측면 거울(side-view mirror)의 아래에 설치하여 측면 거울로 보지 못하는 사각지대를 제거한다. 좀 더 효과적인 사각지대 제거를 위해서 세 대의 카메라에서 얻어지는 영상을 정합하는 방법을 제공한다. 먼저, 후방 카메라에서 얻은 영상을 보정하고, 보정된 영상에서 focus-of-contraction(FOC)을 구한다. 그 뒤에 측방 카메라의 영상과 후방 카메라의 영상 사이의 호모그래피(homography)를 구한다. 그 다음으로 영상을 차도와 배경 영역으로 분리하고, 호모그래피를 사용하여 분리한 차도를 정합하고, 가상의 평면에 배경을 투영하여 최종정합을 완성한다. 마지막으로 정합된 영상을 보다 효과적으로 보여주기 위한 실린더 파노라마 영상, 가상의 Top-view 시스템, 그리고 차량의 다양한 정보와 함께 사각지대 영상을 보여주는 통합 정보 가시화 영상을 생성하여 제공한다.

• Advances in Automotive Engineering
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• 제1권1호
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• pp.143-152
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• 2018

In this study an economical image stitching algorithm for use in automotive industry is developed for retrofittable panoramic image assistance applications. The aim of this project is to develop a driving assistance system known as Panoramic Parking Assistance (PPA) which is cheap, retrofittable and compatible for every type of automobiles. PPA generates bird's eye view image using cameras installed on the automobiles. Image stitching requires to get bird's eye view position of the vehicle. Panoramic images are wide area images that cannot be available by taking one shot, attained by stitching the overlapping areas. To achieve correct stitching many algorithms are used. This study includes some type of these algorithms and presents a simple one that is economical and practical. Firstly, the mathematical model of a wide view of angle camera is provided. Then distorted image correction is performed. Stitching is implemented by using the SIFT and SURF algorithms. It has been seen that using such algorithms requires complex image processing knowledge and implementation of high quality digital processors, which would be impracticle and costly for automobile use. Thus a simpler algorithm has been developed to decrase the complexity. The proposed algorithm uses one matching point for every couple of images and has ease of use and does not need high power processors. To show the efficiency, images coming from four distinct cameras are stitched by using the algorithm developed for the study and usability for automotive application is analyzed.

• Journal of the Optical Society of Korea
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• 제17권4호
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• pp.336-343
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• 2013

Recently various types of driver assistance systems have been used for automobiles. In 2008, the U.S Congress passed a law which required that most cars be equipped with devices to warn objects behind the vehicle. Because of that, market of rear view cameras is expected to rise dramatically. Therefore many suppliers try to provide a wide angle camera for car makers. But a high distortion is caused by the wide angle might result in lower image quality. In order to improve the image quality, normally we use an algorithm to correct a distortion. Though we can improve the distorted image by correction algorithm, we must pay more cost to use it. In this paper, we propose a new optical system reducing a distortion in contrast to a conventional lens without cost. In other words, we can see only an area of interest. That is similar to reducing a field of view. Using a new optical system, we can get a less distorted image. In order to view an area of interest, we introduce an off axis optical system having refractive surfaces and reflective surfaces. In this paper, we describe the results of design and, evaluation of an off axis wide angle compact imaging system. In comparison to conventional wide angle lens, we can get the improvement of MTF, distortion, and lateral color aberrations. And we also can reduce a total cost because we don't need the outer apparatus or bracket to mount on the car.

• 한국광학회지
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• 제23권5호
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• pp.179-188
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• 2012

어안렌즈(fisheye lens)란 통상 초 광각의 시야각을 가지는 렌즈를 일컫는다. 초 광각의 시야각을 가지는 렌즈에서는 주변부시야각으로 갈수록 상의 조도가 급격히 저하하게 되는데, 본 논문에서는 이의 원인과 개선방안에 관해 논의한다. 왜냐하면 어안렌즈와 같은 초 광각의 렌즈에서는 기하광학적인 수차특성보다 오히려 시야각의 안정적인 확보가 광학적인 성능을 훨씬 더 좌우할 수 있기 때문이다. 그러므로 이를 위해, 먼저, 방향코사인벡터의 부호규약과 곡면 상에서의 법선벡터의 방향을 해석기하학적으로 다룬다. 이어서 해석기하학적인 논의를 바탕으로 조도저하의 다양한 원인들에 대해 수치 및 원리적인 분석을 실시하고, 개선에 대한 방안들을 제시한다.

• 로봇학회논문지
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• 제10권3호
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• pp.146-153
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• 2015

In order to contain as much information as possible in a single image, a wide FOV(Field-Of-View) imaging system is required. The catadioptric imaging system with hyperbolic cylinder mirror can acquire over 180 degree horizontal FOV realtime panorama image by using a conventional camera. Because the hyperbolic cylinder mirror has a curved surface in horizontal axis, the original image acquired from the imaging system has the geometrical distortion, which requires the image processing algorithm for reconstruction. In this paper, the image reconstruction algorithms for two cases are studied: (1) to obtain an image with uniform angular resolution and (2) to obtain horizontally rectilinear image. The image acquisition model of the hyperbolic cylinder mirror imaging system is analyzed by the geometrical optics and the image reconstruction algorithms are proposed based on the image acquisition model. To show the validity of the proposed algorithms, experiments are carried out and presented in this paper. The experimental results show that the reconstructed images have a uniform angular resolution and a rectilinear form in horizontal axis, which are natural to human.

• 로봇학회논문지
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• 제3권1호
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• pp.58-67
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• 2008

This study developed a novel augmented reality interface for minimally invasive surgery. The augmented reality technique can alleviate the sensory feedback problem inherent to laparoscopic surgery. An augmented reality system merges real laparoscope image and reconstructed 3D patient model based on diagnostic medical image such as CT, MRI data. By using reconstructed 3D patient model, AR interface could express structure of patient body that is invisible outside visual field of laparoscope. Therefore, an augmented reality system improved sight information of limited laparoscope. In our augmented reality system, the laparoscopic view is located at the center of a wide-angle concave screen and reconstructed 3D patient model is displayed outside the laparoscope. By using a joystick, the laparoscopic view and the reconstructed 3D patient model view are changed concurrently. With our augmented reality system, the surgeon can see the peritoneal cavity from a wide angle of view, without having to move the laparoscope. Since the concave screen serves immersive environments, the surgeon can feel as if she is in the patient body. For these reasons, a surgeon can recognize easily depth information about inner parts of patient and position information of surgical instruments without laparoscope motion. It is possible for surgeon to manipulate surgical instruments more exact and fast. Therefore immersive augmented reality interface for minimally invasive surgery will reduce bodily, environmental load of a surgeon and increase efficiency of MIS.

• 한국멀티미디어학회논문지
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• 제23권3호
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• pp.395-401
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• 2020

In this paper, a motion-based ROI extraction algorithm from a high resolution fisheye image is proposed for multi-view monitoring systems. Lately fisheye cameras are widely used because of the wide angle-of-view and they basically provide a lens correction functionality as well as various viewing modes. However, since the distortion-free angle of conventional algorithms is quite narrow due to the severe distortion ratio, there are lots of unintentional dead areas and they require much computation time in finding undistorted coordinates. Thus, the proposed algorithm adopts an image decimation and a motion detection methods, that can extract the undistorted ROI image with a standard angle-of-view for the fast and intelligent surveillance system. In addition, a mesh-type ROI is presented to reduce the lens correction time, so that this independent ROI scheme can parallelize and maximize the processor's utilization.

• Journal of the Optical Society of Korea
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• 제12권2호
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• pp.79-87
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• 2008

We have developed a miniature fisheye lens with $190^{\circ}$ field of view operating simultaneously in the visible and the near infrared wavelengths. The modulation transfer function characteristic for the visible wavelength is sufficient for a mega-pixel-grade image sensor. The lens also has a fair resolution in the infrared wavelength region. The calibrated $f-{\theta}$ distortion is less than 5%, and the relative illumination is over 90%. In consequence, a sharp wide-angle image can be obtained which is uniform in brightness over the entire range of field angles. The real image heights for the visible and the near infrared wavelengths have been fitted to polynomial functions of incidence angle with sub-pixel accuracies. Combined with the near equidistance projection scheme of the lens, this lens can be advantageously employed in various image-processing applications requiring a wide-angle lens.

• 한국산학기술학회논문지
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• 제16권3호
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• pp.2117-2122
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• 2015

한 장의 영상에 보다 많은 영상정보를 담기 위해서는 넓은 시야각이 필요하다. 넓은 시야각을 갖는 영상은 보안, 감시, 원격화상회의, 이동로봇 등의 산업분야에서 사용된다. 본 논문에서는 광각의 파노라마 영상을 획득하기 위해 쌍곡면 실린더형 반사체를 이용한 영상획득 방법을 제안한다. 일반적인 응용 예에서 수직화각 보다 수평화각이 중요하므로 수직방향으로는 평면거울과 같고, 수평방향으로 쌍곡선 형태를 갖는 실린더형 반사체를 설계하였다. 광학적 성능 분석을 위해 광선추적법을 통해 본 쌍곡면 실린더형 반사체 영상계의 영상획득 모델을 구하였으며, 쌍곡면 실린더형 반사체를 실제 제작하였고, 영상 실험을 통해 광각 영상획득 성능을 검증하였다. 제안하는 영상 시스템은 기존 방법에 비해 경제적이며, 별도의 영상처리 없이 수평화각 210도에 이르는 광각의 실시간 파노라마 영상을 획득할 수 있었다.