[논문]평면 및 수직 운동하는 카메라에서 유용한 영상 역투영 속성들

김민환; 변성민

doi:10.9717/kmms.2022.25.7.912

[국내논문] 평면 및 수직 운동하는 카메라에서 유용한 영상 역투영 속성들
Useful Image Back-projection Properties in Cameras under Planar and Vertical Motion 원문보기

멀티미디어학회논문지 = Journal of Korea Multimedia Society, v.25 no.7, 2022년, pp.912 - 921

김민환 (School of Computer Science and Engineering, College of Information and Biomedical Engineering, Pusan National University) , 변성민 (School of Computer Science and Engineering, College of Information and Biomedical Engineering, Pusan National University)

Abstract ▼ AI-Helper

Autonomous vehicles equipped with cameras, such as robots, fork lifts, or cars, can be found frequently in industry sites or usual life. Those cameras show planar motion because the vehicles usually move on a plane. Sometimes the cameras in fork lifts moves vertically. The cameras under planar and vertical motion provides useful properties for horizontal or vertical lines that can be found easily and frequently in our daily life. In this paper, some useful back-projection properties are suggested, which can be applied to horizontal or vertical line images captured by a camera under planar and vertical motion. The line images are back-projected onto a virtual plane that is parallel to the planar motion plane and has the same orientation at the camera coordinate system regardless of camera motion. The back-projected lines on the virtual plane provide useful information for the world lines corresponding to the back-projected lines, such as line direction, angle between two horizontal lines, length ratio of two horizontal lines, and vertical line direction. Through experiments with simple plane polygons, we found that the back-projection properties were useful for estimating correctly the direction and the angle for horizontal and vertical lines.

Keyword

표/그림 (8)

그림 Fig. 1. Relationship among the world coordinate system (WCS), the camera coordinate system (CCS), and the virtual coordinate system (VCS). WCS is set for its XY-plane to be the vehicle motion plane. The orientation of VCS is equal to that of WCS and the origin of VCS is just vertically below that of CCS.
그림 Fig. 2. A world line a_wb_w is parallel to the virtual plane and it is back-projected to a line a_vb_v on the virtual plane. The back-projected line is parallel to the world line since the triangle c_wa_wb_w is similar to the triangle c_wa_vb_v.
그림 Fig. 3. A world line l is vertical to the virtual plane and it is back-projected to a line l_v on this plane. Then the back-projected line l_v passes the point v₀ that is the vertical projection of the camera projection center.
그림 Fig. 4. Lens distortion compensation and camera calibration. (a) an input image, (b) the image with lens distortion correction, and (c) the camera calibration image with the world coordinate system.
그림 Fig. 5. Experimental images whose radial distortions are compensated. (a) a simple input image including trapezoids and right triangles, (b) an input image after translation and rotation, and (c) an input image including height change too.
그림 Fig. 6. Numbering rule for vertices in the right triangle and the trapezoid.
표 Table 1. Experimental results of angle measurement for two trapezoids, three right triangles, and line pairs in Fig. 5. (angle unit: degree, distance unit: mm)
표 Table 2. Comparison of visual angles and measured angles in trapezoids and right triangles. (unit: degree)

참고문헌 (10)

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원문보기 상세보기
J. Lee, "Recognition Techniques Applied to Autonomous Cars," Korea Multimedia Society, Vol. 19, No. 4, pp. 18-27, 2015.
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상세보기
S. Byun and M. Kim, "Real-time Positioning and Orienting of Pallets Based on Monocular Vision," Proceeding of 20th International Conference on Tools with Artificial Intelligence (ICTAI), pp. 505-508, 2008.
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원문보기 상세보기
M. Kim, S. Byun, and J. Kim, "A Vision Based Pallet Measurement Method by Estimating 3D Direction of A Line Parallel to The Ground," Journal of Korea Multimedia Society, Vol. 23, No. 10, pp. 1229-1235, 2020.

원문보기 상세보기
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