제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제12권7호
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  • Pages.686-692
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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단일 전방향 영상을 이용한 공간 정보의 측정

Localization of 3D Spatial Information from Single Omni-Directional Image

  • 강현덕 (울산대학교 전지전자정보시스템공학부) ;
  • 조강현 (울산대학교 전지전자정보시스템공학부)
  • 발행 : 2006.07.01
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초록

This paper shows the calculation of 3D geometric information such as height, direction and distance under the constraints of a catadioptric camera system. The catadioptric camera system satisfies the single viewpoint constraints adopting hyperboloidal mirror. To calculate the 3D information with a single omni-directional image, the points are assumed to lie in perpendicular to the ground. The infinite plane is also detected as a circle from the structure of the mirror and camera. The analytic experiments verify the correctness of theory using real images taken in indoor environments like rooms or corridors. Thus, the experimental results show the applicability to calculate the 3D geometric information using single omni-directional images.

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참고문헌

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