The KIPS Transactions:PartB (정보처리학회논문지B)

Korea Information Processing Society (한국정보처리학회)
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Computation of Stereo Dense Disparity Maps Using Region Segmentation

영상에서의 분할정보를 사용한 스테레오 조밀 시차맵 생성

  • 이범종 (인천대학교 컴퓨터공학과) ;
  • 박종승 (인천대학교 컴퓨터공학과) ;
  • 김정규 (인천대학교 컴퓨터공학과)
  • Published : 2008.12.31
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Abstract

Stereo vision is a fundamental method for measuring 3D structures by observing them from two cameras placed on different positions. In order to reconstruct 3D structures, it is necessary to create a disparity map from a pair of stereo images. To create a disparity map we compute the matching cost for each point correspondence and compute the disparity that minimizes the sum of the whole matching costs. In this paper, we propose a method to estimate a dense disparity map using region segmentation. We segment each scanline using region homogeneity properties. Using the segmented regions, we prohibit false matches in the stereo matching process. Disparities for pixels that failed in matching are filled by interpolating neighborhood disparities. We applied the proposed method to various stereo images of real environments. Experimental results showed that the proposed method is stable and potentially viable in practical applications.

스테레오 비전은 시차가 있는 양안 영상으로부터 깊이맵에 해당하는 시차맵을 생성하고 시차맵과 카메라 정보로부터 3차원 구조를 복원하는 기법이다. 시차맵 생성은 정합비용을 계산하고, 전체 정합 비용을 최소화하여 시차를 계산하는 단계로 이루어진다. 본 논문에서는 스테레오 영상으로부터 빠르고 안정된 시차맵을 생성하기 위해서 후처리 과정으로 각 스캔라인에 대해서 분산을 이용하여 분할한 후에 분할 영역 정보를 사용하여 객체간 영역을 구분할 수 있도록 한다. 시차맵의 계산 시에 영역의 균일성 정보를 사용하면 잘못된 매치가 발생되지 않도록 억제 할 수 있다. 조밀 시차맵을 생성하기 위해서는 시차 계산에 실패한 픽셀들에 대해서도 인접 픽셀의 값을 사용한 보간 기법을 통한 홀 메우기로 시차값을 계산하여 조밀한 시차맵이 형성되도록 한다. 실제 환경에서의 다양한 스테레오 영상에 대한 실험결과는 제안된 시차맵 생성과 홀을 메우는 방법이 기존의 방법보다 안정적이고 다양한 응용에 적용될 수 있음을 보여준다.

Keywords

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