APPARATUS FOR SYNTHESIZING THREE-DIMENSIONAL IMAGES TO VISUALIZE SURROUNDINGS OF VEHICLE AND METHOD THEREOF
First Claim
1. An apparatus for synthesizing three-dimensional (3D) images, comprising:
- an image input/output unit configured to receive photographed images of a reference pattern formed on a ground and a non-ground plane from a plurality of wide angle cameras mounted on a vehicle, and to output the photographed images;
an image arrangement estimation unit configured to extract feature points from the reference patterns of the image input from the image input/output unit, and to estimate a relative location and installation angle of each of the cameras using known physical location information of the extracted feature points;
a sphere mapping unit configured to obtain optical parameters for correction of lens distortion including an optical center of a lens using the photographed images, and to map each of the images to a surface of a Gaussian sphere using obtained optical center;
a virtual space arrangement unit configured to, using the relative location and installation angle of the camera estimated by the image arrangement estimation unit, change an angle and distance of the Gaussian sphere so that the Gaussian sphere coincides with the real reference patterns, and arrange the Gaussian spheres in a 3D virtual space; and
a single image acquisition unit configured to obtain a single 3D image by mapping the images arranged in the 3D virtual space onto an inner surface of a 3D sphere corresponding to a single large sphere.
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Abstract
The present invention relates to three-dimensional visualization of the surrounding images of a vehicle, and comprises the steps of: enabling a plurality of wide angle cameras provided at a vehicle to receive a plurality of photographed images for reference patterns formed on the ground; extracting feature points from the photographed reference patterns and estimating a relative location and an installation angle of each camera using the known physical location information of the extracted feature points; obtaining optical parameters comprising an optical center of a lens for correcting lens distortion using the photographed images and mapping each image on a surface of a Gaussian sphere using the obtained optical center; changing an angle and distance such that the Gaussian sphere and the real reference patterns correspond to each other using the relative location and the installation angle of the estimated camera and arranging the images in a three-dimensional virtual space; and obtaining a three-dimensional single image by mapping each image arranged in the three-dimensional virtual space to an inner surface of the three-dimensional sphere corresponding to one large sphere.
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Citations
16 Claims
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1. An apparatus for synthesizing three-dimensional (3D) images, comprising:
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an image input/output unit configured to receive photographed images of a reference pattern formed on a ground and a non-ground plane from a plurality of wide angle cameras mounted on a vehicle, and to output the photographed images; an image arrangement estimation unit configured to extract feature points from the reference patterns of the image input from the image input/output unit, and to estimate a relative location and installation angle of each of the cameras using known physical location information of the extracted feature points; a sphere mapping unit configured to obtain optical parameters for correction of lens distortion including an optical center of a lens using the photographed images, and to map each of the images to a surface of a Gaussian sphere using obtained optical center; a virtual space arrangement unit configured to, using the relative location and installation angle of the camera estimated by the image arrangement estimation unit, change an angle and distance of the Gaussian sphere so that the Gaussian sphere coincides with the real reference patterns, and arrange the Gaussian spheres in a 3D virtual space; and a single image acquisition unit configured to obtain a single 3D image by mapping the images arranged in the 3D virtual space onto an inner surface of a 3D sphere corresponding to a single large sphere. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of synthesizing 3D images, comprising:
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receiving, by a plurality of wide angle cameras mounted on a vehicle, a plurality of images of reference patterns formed on a ground; extracting feature points from the photographed reference patterns, and estimating a relative location and installation angle of each of the cameras using known physical location information of the extracted feature points; obtaining optical parameters for correction of lens distortion including an optical center of a lens using the photographed images, and mapping each of the images onto a surface of a Gaussian sphere using the obtained optical center; using the estimated relative location and installation angle of the camera, changing an angle and distance of the Gaussian sphere so that the Gaussian sphere coincides with the real reference patterns, and arranging the Gaussian spheres in a 3D virtual space; and obtaining a single 3D image by mapping the images arranged in the 3D virtual space onto an inner surface of a 3D sphere corresponding to a single large sphere. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification