Abstract:
A method for matching an active stereo of the present invention comprises the steps of: extracting a pattern from a stereo image containing the pattern; generating depth information via stereo matching by using the extracted pattern; calculating a total cost for a sight difference by using Windows kernel generated by using the extracted pattern and cost volume generated for the stereo image; and generating sight difference information by using the calculated depth information and the total cost.
Abstract:
본 발명은 영상 정합 장치 및 방법에 대하여 개시한다. 본 발명은 피사체의 좌측 영상의 제 1 픽셀과, 상기 제 1 픽셀과 대응되는 상기 피사체의 우측 영상의 제 2 픽셀이 계산되어지는 노드가 매칭 가능 영역인지를 판단하는 판단부; 상기 판단결과 매칭 가능 영역이면, 상기 노드에 대응되는 제 1 픽셀 및 상기 제 1 픽셀을 둘러싸는 주변 픽셀로 구성된 좌측 윈도우와 상기 노드와 대응되는 제 2 픽셀 및 제 2 픽셀을 둘러싸는 주변 픽셀로 구성된 우측 윈도우의 밝기정보를 이용하여 양안차값을 산출하는 연산부를 포함하는 점에 그 특징이 있다. 본 발명에 따르면, 다이나믹 프로그래밍 기법을 이용한 스테레오 매칭 알고리즘에 SAD(Sum of Absolute Difference)와 센서스 변환(Census Transform)을 적용하고, 주변 픽셀을 고려한 동적인 gamma 값을 적용하여 영상을 정합함으로써, 조명의 변화에 강인하고, 연산오류를 줄일 수 있는 효과가 있다. 스테레오 이미지, 영상 정합, 스테레오 매칭, 양안차, Disparity
Abstract:
PURPOSE: An image processing device and a method thereof are provided to fix an essential technique to one device according to the supply of a fusing output image. CONSTITUTION: An image process fusing unit(100) generates fusing information by using an input image which is photographed from a left and right stereo camera. A fusing image supplying unit(200) selects desired information of the fusing information. The fusing image supplying unit supplies a fusing output image. The fusing information includes a boarder of an input image, a coordinate area of a face, and a skin color of a face.
Abstract:
PURPOSE: A coding apparatus and method for the simultaneous transmission of image processing information and color information are provided to transmit and receive two kinds of data through one bus. CONSTITUTION: An image sensor(602) takes a photograph of a color image. An image pre-processing unit(610) performs the image processing of the color image. The image pre-processing unit encodes image processing result data in the color image. The image pre-processing unit outputs the encoded data. A CPU(Central Processing Unit)(630) decodes the encoded data. The CPU extracts an image processing result and the color image.
Abstract:
PURPOSE: An image object detecting apparatus and method thereof are provided to increase the performance of person detection by converting an image into an MCT(Modified Census Transform) and to control the size of an input image. CONSTITUTION: A noise elimination block(100) partitions an input image into a plurality of domain frames and removes an image noise. An image size adjustment block(300) controls the size of an input image and transfers a second input image. A memory control block(200) outputs a first input image by extracting the stored image. The memory control block outputs the transferred second input image. An MCT block(400) partitions the second input image into a plurality of domain frames.
Abstract:
PURPOSE: A face detection apparatus and a feedback method combined with face detection and skin color extraction are provided to minimize the face detection target region by extracting face existence enable region from a current frame. CONSTITUTION: An extraction unit(200) extracts a face existence enable region from a current frame based on face skin color information detected from the previous frame. A face detection unit(300) detects the actual face region based on face shape information of extracted face existence enable region. A skin color detection unit(400) detects the face skin color information from the detected actual face range.
Abstract:
PURPOSE: A stereo vision system and a control method thereof are provided to equalize brightness values of color information of right/left images inputted from right/left stereo cameras and obtain an image according to accurate depth information by compensating right/left images. CONSTITUTION: A stereo vision system comprises the following units. If an image of right/left stereo cameras is inputted, an image information extracting unit(200) extracts color information for adjusting brightness of an image. An image preprocessing unit(300) reduces noise of right/left images using the color information. A stereo matching unit(400) generates depth information by performing stereo matching on the right/left images through an algorithm. A matching result measuring unit(500) receives the depth information to measures a matching degree and changes a pre-stored calibration parameter.
Abstract:
An image output device of a network-based intelligent service robot having a stereo camera is provided to calibrate a stereoscopic camera mounted in a robot by having a function of alternately outputting a left pre-processed image and a right pre-processed image one row by one row. The first image selecting unit(1152) selects one of a left camera image and a left pre-processed image. The second image selecting unit(1153) selects one of a right camera image and a right pre-processed image. A left/right image alternately processing unit(1151) alternately outputs the left pre-processed image and the right pre-processed image one row by one row. The third image selecting unit(1154) selects one of the alternately outputted image and a pose-processed image. The first line/frame memory unit(1156) stores and outputs of the first and second image selecting units at 1/4 quadrant and 2/4 quadrant. The second line/frame memory unit(1157) stores and outputs an output of the third image selecting unit and a stereo-matched image to a 3/4 quadrant and a 4/4 quadrant. A resolution matching unit(1155) matches resolution of the outputs of the first to third selecting unit and the stereo matched image, and displays the images of the first and second line/frame memory units as 4-divided screen images.
Abstract:
A security monitoring system using a remote controllable robot and a method thereof are provided to enable a user to check an emergency state of the remote place through the internet, by transmitting information about the emergency state received through a sensor network to a user as an SMS(Short Message Service) message. In a remote controllable robot(200) used for a security monitoring system, a receiving module for sensor communication interlocks with a sensor network(10) to receive a dangerous signal. A processor photographs an image with a camera(240) in receiving the dangerous signal, transmits the kinds of events decided by the received dangerous signal and the photographed image, through wire/wireless networks, and controls the camera and a wheel unit according to a control command received through the wire/wireless networks, in response to the transmitted signal and image.
Abstract:
An apparatus and a method for processing the vision of a network-based intelligent service robot and a system using the apparatus are provided to process image data in a robot terminal without transmitting the image data to a robot server to reduce communication cost. An apparatus(101) for processing the vision of a network-based intelligent service robot includes a stereo camera unit(1010), an input image pre-processor(1011), a stereo matching unit(1012), an image post-processor(1013), and an input output selector(1014). The stereo camera unit acquires left and right images from left and right cameras. The input image pre-processor corrects a characteristic difference of the left and right cameras for the left and right images inputted through the stereo camera unit. The stereo matching unit calculates a disparity map through stereo matching for the left and right images inputted through the input image pre-processor. The image post-processor extracts a depth map from the image inputted through the stereo matching unit and segments different objects from the depth map. The image output selector selectively outputs the output image of the stereo camera unit and the output image of the image post-processor.