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公开(公告)号：KR101402089B1
公开(公告)日：2014-06-02
申请号：KR1020120128949
申请日：2012-11-14
Applicant: 재단법인대구경북과학기술원
Abstract: 본 발명은 장애물 검출 장치 및 방법에 대하여 개시한다. 본 발명의 일면에 따른 장애물 검출 장치는, 스테레오 영상의 시차맵으로부터 장애물이 포함될 가능성이 있는 관심 영역을 검출하는 제1 검출부; 상기 관심 영역의 밝기 기반 히스토그램을 이용하여 상기 관심 영역에서 그림자로 예상되는 영역에 대응하는 장애물의 수평 위치를 검출하는 제2 검출부; 및 상기 수평 위치 사이의 수직 에지 정보를 이용하여 상기 장애물이 포함되는 장애물 영역을 검출하는 제3 검출부를 포함하는 것을 특징으로 한다.
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公开(公告)号：KR1020140061101A
公开(公告)日：2014-05-21
申请号：KR1020120128284
申请日：2012-11-13
Applicant: 재단법인대구경북과학기술원
IPC: H04N13/00
CPC classification number: G06T7/11 , G06T7/194 , H04N13/106
Abstract: A device and a method for precisely detecting an obstacle by applying an outline weighting factor-based segmentation method to a detection result of a disparity map. A device for detecting an obstacle based on an outline weighting factor in a stereoscopic image includes: an initial region designation unit for designating an initial region by including at least an object within a stereoscopic image; a weighting factor calculation unit for calculating a weighting factor by relating to an outline of the object; and a region extraction unit for extracting an obstacle region which the object occupies from the initial region by applying the weighting factor when processing segmentation for the initial region.
Abstract translation: 一种用于通过对视差图的检测结果应用基于轮廓加权因子的分割方法来精确地检测障碍物的装置和方法。 一种用于基于立体图像中的轮廓加权因子来检测障碍物的装置，包括：初始区域指定单元，用于通过至少包括对立在立体图像内的对象来指定初始区域; 加权因子计算单元，用于通过与对象的轮廓相关联来计算加权因子; 以及区域提取单元，用于当对初始区域进行分割处理时，通过应用加权因子来从目标区域提取对象占据的障碍物区域。
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公开(公告)号：KR1020140040316A
公开(公告)日：2014-04-03
申请号：KR1020120105846
申请日：2012-09-24
Applicant: 재단법인대구경북과학기술원
Abstract: A navigation satellite system according to the present invention comprises: a vision system for recognizing an object through a camera installed in a moving body, and generating and outputting information on a distance between the recognized object and the moving body being the camera and information on a distance between the object and the center of the moving body being the camera with respect to the recognized object; a GNSS coordinate information generation unit for generating GNSS coordinate information; an object database for providing position information on the object; and a GNSS coordinate information correction apparatus for receiving the information on the distance between the object and the moving body and the information on the distance between the object and the center of the moving body with respect to the recognized object from the vision system, calculating an internal angle between the object and the moving body, calculating an azimuth angle of the moving body with respect to the object by using the internal angle between the object and the moving body, calculating coordinate information of the moving body based on the information on the distance between the object and the moving body, the azimuth angle of the moving body with respect to the object, and the coordinate information of the object, comparing the calculated coordinate information with the GNSS coordinate information, and correcting the GNSS coordinate information. [Reference numerals] (100) GNSS coordinate information correction unit; (200) Vision system; (300) GNSS coordinate information generation unit; (400) Object database
Abstract translation: 根据本发明的导航卫星系统包括：视觉系统，用于通过安装在移动体中的相机识别物体，并且生成并输出关于所识别的物体和作为照相机的移动体之间的距离的信息，以及关于 物体与移动体的中心之间的距离相对于识别的物体为相机; GNSS坐标信息生成单元，用于生成GNSS坐标信息; 用于提供关于对象的位置信息的对象数据库; 以及GNSS坐标信息校正装置，用于接收关于物体和移动体之间的距离的信息以及关于物体与移动体的中心之间的距离相对于来自视觉系统的识别对象的距离的信息， 物体和移动体之间的内角，通过使用物体与移动体之间的内角来计算移动体相对于物体的方位角，根据距离的信息计算移动体的坐标信息 在物体和移动体之间，移动体相对于物体的方位角以及对象的坐标信息，将计算的坐标信息与GNSS坐标信息进行比较，以及校正GNSS坐标信息。 （100）GNSS坐标信息校正单元; （200）视觉系统; （300）GNSS坐标信息生成单元; （400）对象数据库
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公开(公告)号：KR101371275B1
公开(公告)日：2014-03-26
申请号：KR1020120124276
申请日：2012-11-05
Applicant: 재단법인대구경북과학기술원
Abstract: Disclosed by the present invention is an object tracking method capable of solving a problem in which an object tracking performance is dependent on the performance of an object detector. The multi-object tracking method based on a stereo image according to an embodiment of the present invention includes: a normal object recognizing step for extracting an object candidate group from the left and right images of a current frame of a stereo vision; a specific object recognizing step for extracting a specific object which is an interesting object from the object candidate group; a specific target recognizing step for estimating an interesting area of the current frame by using the interest area which is extracted from a previous frame image; and a multi-object tracking step for tracking a multi-object in the current frame image by setting the recognized object candidate group, the recognized specific object, and the estimated interest area as an observation model and setting the interest area of the previous frame image as a motion model. [Reference numerals] (AA) Previous frame post-state vector; (BB) Previous frame; (CC) Current frame; (S21) Normal object recognition; (S23) Specific object recognition; (S25) Target feature recognition; (S27) Data connection; (S29) Multi-object tracking
Abstract translation: 本发明公开的是一种能够解决物体跟踪性能取决于物体检测器的性能的问题的物体追踪方法。 根据本发明的实施例的基于立体图像的多对象跟踪方法包括：正常对象识别步骤，用于从立体视觉的当前帧的左图像和右图像中提取对象候选组; 特定对象识别步骤，用于从对象候选组中提取作为感兴趣对象的特定对象; 特定目标识别步骤，用于通过使用从先前帧图像提取的兴趣区域来估计当前帧的感兴趣区域; 以及多对象跟踪步骤，用于通过将所识别的对象候选组，所识别的特定对象和所估计的兴趣区域设置为观察模型来跟踪当前帧图像中的多个对象，并设置前一帧图像的兴趣区域 作为运动模型。 （附图标记）（AA）上一帧后置状态向量; （BB）上一帧; （CC）当前帧; （S21）正常对象识别; （S23）具体对象识别; （S25）目标特征识别; （S27）数据连接; （S29）多物体追踪
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公开(公告)号：KR1020130052405A
公开(公告)日：2013-05-22
申请号：KR1020110117821
申请日：2011-11-11
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: An obstacle detecting and separating method of a stereo vision based image and an apparatus performing the same are provided to easily process about a part having a low parallax value through histogram smoothing, thereby improving long distance detection performance. CONSTITUTION: An obstacle detecting method of a stereo vision based image includes following steps. A parallax map is generated by receiving stereo based left and right images(110). A histogram smoothing process is performed in the parallax map(120). The parallax map in which the histogram smoothing is performed is transformed into a V-parallax map, and road information is extracted from the V-parallax map(130). An obstacle area is detected by performing column detection using extracted road information and the parallax map in which the histogram smoothing is performed. An obstacle detecting apparatus includes a stereo camera unit, an image processing unit, and a monitoring unit. The stereo camera unit consisting of left and right cameras obtains an image from outside. The image processing unit detects an obstacle by performing the obstacle detecting method about the image obtained by the stereo camera unit. The monitoring unit displays a detection result of the image processing unit. The obstacle detecting apparatus is installed in a vehicle, and the car transmits the detection result of the image processing unit to a control device. The stereo camera unit obtains the image by using an active shutter method or by separating left and right images using a polarizing filter. [Reference numerals] (100) Stereo camera unit; (200) Image processing unit; (300) Monitoring unit; (AA) External image
Abstract translation: 目的：提供基于立体视觉的图像的障碍物检测和分离方法及其执行装置的装置，以通过直方图平滑来容易地处理具有低视差值的部分，从而改善长距离检测性能。 构成：基于立体视觉的图像的障碍物检测方法包括以下步骤。 通过接收基于立体声的左和右图像（110）来产生视差图。 在视差图（120）中执行直方图平滑处理。 执行直方图平滑处理的视差图被变换为V视差图，并从V视差图（130）中提取道路信息。 通过使用提取的道路信息和执行直方图平滑化的视差图执行列检测来检测障碍物区域。 障碍物检测装置包括立体摄像机单元，图像处理单元和监视单元。 由左右相机组成的立体相机单元从外部获得图像。 图像处理单元通过对由立体摄像机单元获得的图像执行障碍物检测方法来检测障碍物。 监视单元显示图像处理单元的检测结果。 障碍物检测装置安装在车辆中，轿厢将图像处理单元的检测结果发送到控制装置。 立体摄像机单元通过使用主动快门方法或通过使用偏振滤光器分离左和右图像来获得图像。 （附图标记）（100）立体相机单元; （200）图像处理单元; （300）监控单元; （AA）外部图像
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Patent Agency Ranking
公开(公告)号：KR1020130052404A
公开(公告)日：2013-05-22
申请号：KR1020110117820
申请日：2011-11-11
Applicant: 재단법인대구경북과학기술원
CPC classification number: H04N13/161 , H04N13/128 , H04N13/275
Abstract: PURPOSE: A distance estimating device using features based on 3D images and a method thereof are provided to estimate the distance and object recognition by extracting the features of an object. CONSTITUTION: A distance estimating unit estimates the information about a distance from a photographed spot to an object using 3D depth information estimated from an input image(S102,S104). A depth information processing unit allocates the 3D depth information of each scale space layer to the featured points of the scale space layer(S112). A scale space selecting unit searches for a scale space layer matched with the feature points extracted from a 2D object image(S116). The distance estimating unit estimates the distance of the object using the depth information of the searched scale space layer(S118). [Reference numerals] (AA) Input image; (BB) 2D object image; (CC) Object image including 3D depth information; (DD) 2D image; (S102) Estimate 3D depth information; (S104) Estimate the distance of an object from a photographing spot; (S106) Compose a scale space; (S108) Estimate depth information for each scale space layer using the depth information of a reference image; (S110) Extract the feature point of each scale space; (S112) Depth information corresponding to the feature point; (S114) Extract the feature point; (S116) Select a scale space layer matched to the feature point; (S118) Estimate an object distance using the depth information of the selected scale space layer
Abstract translation: 目的：提供使用基于3D图像的特征的距离估计装置及其方法，通过提取对象的特征来估计距离和对象识别。 构成：距离估计单元使用从输入图像估计的3D深度信息来估计关于从拍摄点到对象的距离的信息（S102，S104）。 深度信息处理单元将尺度空间层的3D深度信息分配给比例空间层的特征点（S112）。 比例空间选择单元搜索与从2D对象图像提取的特征点匹配的比例空间层（S116）。 距离估计单元使用所搜索的比例空间层的深度信息来估计对象的距离（S118）。 （附图标记）（AA）输入图像; （BB）2D对象图像; （CC）包括3D深度信息的对象图像; （DD）2D图像; （S102）估计3D深度信息; （S104）估计物体与拍摄点的距离; （S106）构成比例空间; （S108）使用参考图像的深度信息估计每个比例空间层的深度信息; （S110）提取每个刻度空间的特征点; （S112）与特征点对应的深度信息; （S114）提取特征点; （S116）选择与特征点匹配的比例空间层; （S118）使用所选择的比例尺空间层的深度信息估计对象距离
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公开(公告)号：KR101264282B1
公开(公告)日：2013-05-22
申请号：KR1020100126756
申请日：2010-12-13
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은도로상차량검출방법에관한것으로, (a) 검출차량에설치된적어도하나의카메라를통해상기차량의전방또는후방을촬영하여영상을입력하는단계; (b) 상기입력된영상을영상처리알고리즘을이용하여도로의소실점(vanishing point)을찾는단계; (c) 상기소실점을기준으로관심영역(ROI)을설정하는단계; 및 (d) 상기관심영역(ROI)을영상처리하여차량을검출하는단계를포함한다. 이와같은본 발명을제공하면, 검출의정확도를높이고, 검출알고리즘이차량을검출하기위해탐색하는범위를관심영역의범위로줄임으로써전체영상을탐색할경우보다처리하는시간을줄이게된다.
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公开(公告)号：KR101208647B1
公开(公告)日：2012-12-06
申请号：KR1020100106136
申请日：2010-10-28
Applicant: 재단법인대구경북과학기술원
Abstract: 장애물체검출방법은좌 영상및 우영상에대하여스테레오매칭을수행하여장애물체를포함하는시차맵(depth map)을생성하는단계, 시차맵의열에대하여시차값의분포를누적하여장애물체에따른 U-변위맵을생성하는단계, 및 U-변위맵 상에서미리설정된크기에해당하는장애물체를검출하는단계를포함한다.
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公开(公告)号：KR101470694B1
公开(公告)日：2014-12-08
申请号：KR1020120085032
申请日：2012-08-03
Applicant: 재단법인대구경북과학기술원
IPC: G01S19/39
Abstract: 위성항법시스템이가지고있는내재적인문제점을해결하고자비전시스템과융합하여신뢰성있고안정적인위치결정을위한위치계산장치및 방법을개시한다. 일실시예로서, 위치계산장치및 방법은, 위치결정에서연속적이면서도신뢰도를향상시키기위하여비전시스템과융합한보다발전된위치결정시스템을개발할수 있고, 장애물이나외부영향으로위치정확도가떨어지거나음영지역이발생하여연속적인부분에서취약한단점을해결할수 있다.
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公开(公告)号：KR101339616B1
公开(公告)日：2013-12-10
申请号：KR1020120135386
申请日：2012-11-27
Applicant: 재단법인대구경북과학기술원
CPC classification number: G06T7/285 , G06T7/246 , G06T2207/10021
Abstract: A method and device for detecting and tracking an object is disclosed in the present invention. The object detecting and tracking method comprises the steps of: detecting an object using an appearance model of a left image input from a stereo camera, and detecting a distance from the object and the location of the object; connecting the object to existing tracking according to the similarity of the appearance model and the location of the object; setting a candidate parallax section in a right image input from the stereo camera by using the object distance; extracting a feature point of the object included in the candidate parallax section, and matching the feature point according to descriptor similarity; and determining the distance from the object by extracting sub pixel parallax according to parallax of the matched feature point. [Reference numerals] (100) Object detecting and tracking device;(101) Object detecting unit;(102) Left image;(103) Data associating unit;(104) Candidate region setting unit;(105) Right image;(106) Feature point matching unit;(107) Distance/location determining unit
Abstract translation: 在本发明中公开了一种用于检测和跟踪物体的方法和装置。 对象检测和跟踪方法包括以下步骤：使用从立体摄像机输入的左图像的外观模型来检测对象，并且检测距物体的距离和对象的位置; 根据外观模型与对象位置的相似性将对象连接到现有跟踪; 通过使用所述对象距离来设置从立体摄像机输入的右图像中的候选视差部分; 提取候选视差部分中包括的对象的特征点，并根据描述符相似度对特征点进行匹配; 以及通过根据所述匹配特征点的视差提取子像素视差来确定与所述对象的距离。 （100）对象检测跟踪装置;（101）对象检测单元;（102）左图像;（103）数据关联单元;（104）候选区域设置单元;（105）右图像;（106） 特征点匹配单元;（107）距离/位置确定单元
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