公开(公告)号：KR101348855B1

公开(公告)日：2014-01-16

申请号：KR1020120120897

申请日：2012-10-30

Applicant: 성균관대학교산학협력단

Inventor： 조준동 ,  서남석 ,  허준회 ,  이정후 ,  김종학

IPC: H04N5/232

CPC classification number: H04N5/23264 ,  G06T7/20

Abstract: According to the present invention, a real-time image stabilization method for imaging system including an image sensor, and a motion sensor capable of generating pitch information and yaw information comprising angle values comprises the steps of: segmenting the entire area of an image into a quadrant and previously setting four or more unit search areas including at least one of the quadrant; receiving an image from the image sensor in every frame; receiving, from the motion sensor, a motion sensor signal including at least pitch information and yaw information in every frame; selecting one of four or more unit search areas as a reduced search area, based on unit motion vector consisting of the vertical components of the pitch information and the horizontal components of the yaw information, in every frame; operating motion vector in the selected reduced search area with respect to an image of a current frame and an image of a previous frame, in every frame; and displacing the image of the current frame in a reverse direction of the motion vector operated in every frame to create an image for which the motion of a camera is compensated. [Reference numerals] (AA) Start; (BB) End; (S31) Segment the entire area of an image into a quadrant and previously set four or more unit search areas including at least one of the quadrant; (S32) Receive image signals from an image sensor; (S33) Receive, from a motion sensor, a motion sensor signal including pitch information and yaw information; (S34) Synchronize the image signals with the pitch information and the yaw information; (S35) Select one of four or more unit search areas as a reduced search area, based on unit motion vector consisting of the vertical components of the pitch information and the horizontal components of the yaw information; (S36) Operate compensated motion vector in the selected reduced search area with respect to an image of a current frame and an image of a previous frame; (S37) Displace and rotate the image according to the operated compensated motion vector

Abstract translation: 根据本发明，包括图像传感器和能够产生俯仰信息的运动传感器和包括角度值的偏航信息的运动传感器的实时图像稳定化方法包括以下步骤：将图像的整个区域分割为 并且之前设置四个或更多个单元搜索区域，包括至少一个象限; 在每帧中从图像传感器接收图像; 从运动传感器接收至少包括每个帧中的俯仰信息和偏航信息的运动传感器信号; 在每个帧中，基于由俯仰信息的垂直分量和偏航信息的水平分量组成的单位运动矢量，选择四个或更多个单位搜索区域中的一个作为缩小搜索区域; 在每帧中相对于当前帧的图像和先前帧的图像在所选择的缩小搜索区域中操作运动矢量; 并且在与每帧中操作的运动矢量相反的方向上移动当前帧的图像，以创建照相机的运动被补偿的图像。 （附图标记）（AA）开始; （BB）结束; （S31）将图像的整个区域划分为象限，并且预先设置四个或更多个单元搜索区域，包括至少一个象限; （S32）从图像传感器接收图像信号; （S33）从运动传感器接收包括音调信息和偏航信息的运动传感器信号; （S34）使图像信号与俯仰信息和偏航信息同步; （S35）基于由俯仰信息的垂直分量和偏航信息的水平分量组成的单位运动矢量，选择四个以上的单位搜索区域中的一个作为缩小搜索区域; （S36）相对于当前帧的图像和前一帧的图像在选择的缩小搜索区域中操作补偿运动矢量; （S37）根据操作补偿的运动矢量来移动和旋转图像

公开(公告)号：KR101373982B1

公开(公告)日：2014-03-14

申请号：KR1020120123423

申请日：2012-11-02

Applicant: 성균관대학교산학협력단

Inventor： 조준동 ,  김용한 ,  이정후 ,  김종학 ,  서남석

IPC: H04N13/00

CPC classification number: G06T7/44 ,  H04N13/271 ,  H04N2013/0081

Abstract: A stereo matching apparatus which generates a displacement map based on stereo images according to embodiments of the present invention comprises: a displacement map calculation unit for generating a full-scale displacement map regarding the stereo images in a predicted search area for a current frame generated from a previous frame; an effective search area calculation unit which sets an object area extracted by comparing a histogram log scale of the full-scale displacement map with a threshold value as an effective search area of the current frame; and an predicted search area calculation unit which generates the predicted search area for the next frame based on at least one linear transformation element extracted among the histograms of the effective search areas of the previous frame and the current frame. [Reference numerals] (AA) Start; (BB) k=1 or M; (S10) Each receive stereo images of left and right components from a current frame; (S11) k = 1,2 or M?; (S20) Generate a full-scale displacement map and an effective search area by a simple search area method(SSR); (S30) Generate a full-scale displacement map, an effective search area, and a predicted search area in the effective search area; (S40) Generate a full-scale displacement map, an effective search area, and a predicted search area in the predicted search area

Abstract translation: 根据本发明的实施例，生成基于立体图像的位移图的立体匹配装置包括：位移图计算单元，用于生成关于当前帧的预测搜索区域中的立体图像的满量程位移图， 前一帧; 有效搜索区域计算单元，其通过将全尺寸位移图的直方图对数比例与阈值进行比较来设置提取的对象区域作为当前帧的有效搜索区域; 以及预测搜索区域计算单元，其基于在前一帧的有效搜索区域和当前帧的直方图中提取的至少一个线性变换元素来生成下一帧的预测搜索区域。 （附图标记）（AA）开始; （BB）k = 1或M; （S10）每个从当前帧接收左和右分量的立体图像; （S11）k = 1,2或M + （S20）通过简单的搜索区域方法（SSR）生成全尺寸位移图和有效搜索区域; （S30）在有效搜索区域中生成全尺寸位移图，有效搜索区域和预测搜索区域; （S40）在预测搜索区域中生成满量程位移图，有效搜索区域和预测搜索区域