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公开(公告)号：KR1020140099098A
公开(公告)日：2014-08-11
申请号：KR1020130011923
申请日：2013-02-01
Applicant: 한국전자통신연구원
CPC classification number: G06T7/0075 , G06T7/593
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 translation: 一种用于匹配本发明的主动立体声的方法包括以下步骤：从包含图案的立体图像中提取图案; 通过使用提取的图案通过立体匹配产生深度信息; 通过使用通过使用为立体声图像生成的提取的图案和成本音量生成的Windows内核来计算视差的总成本; 以及通过使用所计算的深度信息和总成本来生成视差信息。
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公开(公告)号：KR101200490B1
公开(公告)日：2012-11-12
申请号：KR1020080125425
申请日：2008-12-10
Applicant: 한국전자통신연구원
CPC classification number: G06T7/593
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, DisparityAbstract translation: 提供了一种图像匹配装置和方法，并且图像匹配装置包括：确定单元，确定其中对象的左侧图像的第一像素和对象的对象的对象的右侧图像的第二像素的节点 像素是可匹配区域，并且操作单元通过使用由与该节点相对应的第一像素和围绕第一像素的外围像素组成的左窗口的亮度信息和右窗口的亮度信息来计算视差值 由所述节点和围绕所述第二像素的外围像素对应的第二像素组成，作为所述确定的结果，所述节点是所述可匹配区域。
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公开(公告)号：KR1020120070125A
公开(公告)日：2012-06-29
申请号：KR1020100131556
申请日：2010-12-21
Applicant: 한국전자통신연구원
IPC: H04N13/00
CPC classification number: G06T7/73 , G06T2207/10021 , G06T2207/10024 , G06T2207/20192 , G06T2207/20221 , G06T2207/30201 , H04N13/106 , H04N2013/0077 , H04N2013/0081
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 translation: 目的：提供一种图像处理装置及其方法，用于根据熔化输出图像的供给将基本技术固定在一个装置上。 构成：图像处理定影单元（100）通过使用从左右立体摄像机拍摄的输入图像来生成定影信息。 定影图像提供单元（200）选择定影信息的期望信息。 定影图像供给单元提供定影输出图像。 融合信息包括输入图像的边框，脸部的坐标区域和脸部的肤色。
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公开(公告)号：KR1020110064722A
公开(公告)日：2011-06-15
申请号：KR1020090121437
申请日：2009-12-08
Applicant: 한국전자통신연구원
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 translation: 目的：提供用于同时传输图像处理信息和颜色信息的编码装置和方法，以通过一个总线发送和接收两种数据。 构成：图像传感器（602）拍摄彩色图像的照片。 图像预处理单元（610）执行彩色图像的图像处理。 图像预处理单元对彩色图像中的图像处理结果数据进行编码。 图像预处理单元输出编码数据。 CPU（中央处理单元）（630）解码编码数据。 CPU提取图像处理结果和彩色图像。
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公开(公告)号：KR1020110063989A
公开(公告)日：2011-06-15
申请号：KR1020090120391
申请日：2009-12-07
Applicant: 한국전자통신연구원 , 세종대학교산학협력단
CPC classification number: G06K9/00241 , G06K9/40
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 translation: 目的：提供一种图像对象检测装置及其方法，以通过将图像转换为MCT（修改的人口普查变换）来增加人物检测的性能并控制输入图像的大小。 构成：噪声消除块（100）将输入图像分割成多个域帧并去除图像噪声。 图像尺寸调整块（300）控制输入图像的尺寸并传送第二输入图像。 存储器控制块（200）通过提取存储的图像来输出第一输入图像。 存储器控制块输出传送的第二输入图像。 MCT块（400）将第二输入图像分割成多个域帧。
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Patent Agency Ranking
公开(公告)号：KR1020110006107A
公开(公告)日：2011-01-20
申请号：KR1020090063592
申请日：2009-07-13
Applicant: 한국전자통신연구원
CPC classification number: G06T7/90 , G06K9/00228 , G06T7/0002 , G06T7/73 , G06T2207/30201
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 translation: 目的：提供一种与脸部检测和皮肤颜色提取结合的面部检测装置和反馈方法，以通过从当前帧提取面部存在使能区域来最小化面部检测目标区域。 构成：提取单元（200）基于从前一帧检测到的面部肤色信息从当前帧中提取脸部存在使能区域。 面部检测部（300）根据所提取的面部存在使能区域的面部形状信息来检测实际面部区域。 皮肤颜色检测单元（400）根据检测到的实际面部范围检测面部肤色信息。
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公开(公告)号：KR1020100019804A
公开(公告)日：2010-02-19
申请号：KR1020080078528
申请日：2008-08-11
Applicant: 한국전자통신연구원
CPC classification number: G06T5/40 , G06T7/593 , G06T2207/10012 , H04N13/133 , H04N13/239 , H04N13/246 , H04N13/00
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 translation: 目的：提供一种立体视觉系统及其控制方法，以平衡从右/左立体声摄像机输入的左/右图像的颜色信息的亮度值，并通过补偿右/左图像，根据准确的深度信息获得图像。 构成：立体视觉系统包括以下单元。 如果输入右/左立体相机的图像，则图像信息提取单元（200）提取用于调整图像的亮度的颜色信息。 图像预处理单元（300）使用颜色信息降低右/左图像的噪声。 立体匹配单元（400）通过算法对右/左图像执行立体匹配来生成深度信息。 匹配结果测量单元（500）接收深度信息以测量匹配度并改变预先存储的校准参数。
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公开(公告)号：KR1020080050968A
公开(公告)日：2008-06-10
申请号：KR1020070071863
申请日：2007-07-18
Applicant: 한국전자통신연구원
CPC classification number: B25J19/04
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 translation: 提供具有立体相机的基于网络的智能服务机器人的图像输出装置，通过具有交替地输出左预处理图像和右预处理图像的功能来校准安装在机器人中的立体摄像机 一排 第一图像选择单元（1152）选择左摄像机图像和左预处理图像之一。 第二图像选择单元（1153）选择右侧相机图像和右侧预处理图像之一。 左/右图像交替处理单元（1151）一行一行交替地输出左预处理图像和右预处理图像。 第三图像选择单元（1154）选择交替输出的图像和姿态处理图像中的一个。 第一行/帧存储单元（1156）存储第一和第二图像选择单元的1/4象限和2/4象限的输出。 第二行/帧存储单元（1157）将第三图像选择单元和立体匹配图像的输出存储并输出到3/4象限和4/4象限。 分辨率匹配单元（1155）匹配第一至第三选择单元和立体匹配图像的输出的分辨率，并将第一和第二行/帧存储单元的图像显示为4分屏幕图像。
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公开(公告)号：KR1020070061213A
公开(公告)日：2007-06-13
申请号：KR1020060065503
申请日：2006-07-12
Applicant: 한국전자통신연구원
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 translation: 提供使用远程可控机器人的安全监控系统及其方法，以使用户能够通过互联网来检查远程地点的紧急状态，通过将关于通过传感器网络接收的紧急状态的信息作为SMS发送给用户 （短消息服务）消息。 在用于安全监控系统的远程可控机器人（200）中，用于传感器通信的接收模块与传感器网络（10）互锁以接收危险信号。 处理器在摄像机（240）接收危险信号时拍摄图像，通过有线/无线网络发送由接收到的危险信号和拍摄图像决定的种类的事件，并且根据一个 响应于发送的信号和图像，通过有线/无线网络接收的控制命令。
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公开(公告)号：KR100727033B1
公开(公告)日：2007-06-12
申请号：KR1020050119019
申请日：2005-12-07
Applicant: 한국전자통신연구원
IPC: H04N13/00
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.
Abstract translation: 提供了一种用于处理基于网络的智能服务机器人的视觉的设备和方法以及使用该设备的系统以处理机器人终端中的图像数据，而不将该图像数据传输到机器人服务器以降低通信成本。 一种用于处理基于网络的智能服务机器人的视觉的装置（101）包括立体摄像机单元（1010），输入图像预处理器（1011），立体匹配单元（1012），图像后处理器 1013）和输入输出选择器（1014）。 立体相机单元从左侧和右侧相机获取左侧和右侧图像。 输入图像预处理器对通过立体照相机单元输入的左右图像的左右相机的特性差异进行校正。 立体匹配单元通过对通过输入图像预处理器输入的左图像和右图像进行立体匹配来计算视差图。 图像后处理器从通过立体匹配单元输入的图像中提取深度图并从深度图中分割不同的对象。 图像输出选择器选择性地输出立体摄像机单元的输出图像和图像后处理器的输出图像。
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