Robotics and Computer Vision Lab


Extra Form
저 자 Jun-sik Kim
논문일시(Year) 2006
논문일시(Month) 02
김준식, 랭크 부족관계를 이용한 비보정 영상으로부터의 메트릭 복원, 한국과학기술원, 2006, 2월.

Inferring geometric information from images has been dealt with very importantly in computer vision area.
In this work, we aim to reconstruct a metric structure of a scene from images using the fact that the conic dual to the circular points has a simple diagonal rank-deficient form. By manipulating image's features to constrain the simple diagonal form algebraically, the metric invariants of an observed scene can be recovered.

In the first part of the work, we use "concentric circles" as basic features, and we propose simple "subtraction methods" to find affine and metric properties of a plane with concentric circles. The geometric meanings of the resulting subtraction matrices are revealed. Some experiments are conducted to show the possibilities to use the proposed algorithm, including a calibration of a multi-camera system. As a direct extension, the concentric circle cases are generalized to deal with some general conics whose foci are known and confocal conics whose foci are unknown.

In the second part of the work, we propose an "addition method" using one-dimensional basic features such as points and lines. To analyze the geometric information efficiently, we build a new space called "semi-metric space." The parameterization of metric invariants in the semi-metric space is made, and using that, the physical meanings of the parameters of the invariants are derived. Although we cannot measure the scene metrically, some knowledge about the structure of the scene can be retrieved from images, by using only easily obtainable features such as parallelism and orthogonality. Under static camera assumption and with more images, the metric of the planes can be determined.

In the third part of the work, we propose a framework to unify the geometric constraints used in camera calibration and in metric reconstruction. The previously used constraints are revisited and reinterpreted in the proposed framework. We show that all kinds of scene constraints can be converted into the forms of constraints on the cameras, and the methods in the first and the second parts of the work are useful to make the unified framework. We show that the unified framework have benefits to analyze the various types of constraints. A more flexible algorithm to metric-reconstruct scenes from images is developed to show the feasibility of our proposed unified framework.

List of Articles
205. Sensor fusion of range and reflectance data for outdoor scene analysis
In So Kweon, M. Hebert, T. Kanade
NASA Workshop on Space Operations, Automation, and Robotics 1988 / 07
204. Perception for rugged terrain
In So Kweon, M. Hebert, T. Kanade
SPIE International Symposium on Intelligent Robots and Computer Vision 1988 / 11
203. CMU sidewalk navigation system: A blackboard-based outdoor navigation system using sensor fusion with colored-range images
Y. Goto, K. Matsuzaki, In So Kweon, T. Obatake
Fall Joint Computer Conference (FJCC) 1986 / 11
202. Automatic Method for Closed Eye Correction
Jean-Charles Bazin, D.Q. Pham, In So Kweon, Kukjin Yoon
ICIP'09 2009 / 11
201. Particle Filter Approach Adapted to Catadioptric Images for Target Tracking Application
Jean-Charles Bazin, Kukjin Yoon, In So Kweon, C. Demonceaux, P. Vasseur
BMVC'09 2009 / 09
200. Contextual Decomposition of Multi-Label Images.
Teng Li, Tao Mei, Shuicheng Yan, In So Kweon, Chilwoo Lee
Accepted to IEEE Conference on Computer Vision and Pattern Recognition (CVPR2009) 2009 / 06
199. VideoM: Multi-Video Synopsis.
Teng Li, Tao Mei, In So Kweon
In association with IEEE International Conference on Data Mining (ICDM2008) 2008 / 12
198. A Semantic Region Descriptor For Local Feature Based Image Categorization.
Teng Li, In So Kweon
In IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP) 2008 / 03
197. Learning Optimal Compact Codebook for Efficient Object Categorization.
Teng Li, Tao Mei, In So Kweon
In IEEE 2008 Workshop on Application of Computer Vision (WACV) 2008 / 01
196. Graph-Based Robust Shape Matching for Robotic Application
Hanbyul Joo, Yekeun Jeong, Olivier Duchenne, In So Kweon
IEEE International Conference on Robotics and Automation (ICRA) 2009 / 05
195. Graph Generation from Over-segmentation for Graph Based Approaches
Hanbyul Joo, Yekeun Jeong, In So Kweon
15th Korea-Japan Joint Workshop on Frontiers of Computer Vision(FCV) 2009 / 02
194. Bottom-Up Segmentation Based Robust Shape Matching in the Presence of Clutter and Occlusion
Hanbyul Joo, Yekeun Jeong, In So Kweon
International Workshop on Advanced Image Technology(IWAIT) 2009 / 01
193. Relative Scale Estimation between Two Camera Motions
Yekeun Jeong, In So Kweon
The 19th International Conference on Pattern Recognition (ICPR) 2008 / 12
192. Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
Yunsu Bok, Dong-Geol Choi, Yekeun Jeong, In So Kweon
IEEE Workshop on eHeritage and Digital Art Preservation, In conjunction with ICCV 2009 2009 / 10
191. Support Aggregation via Non-linear Diffusion with Disparity-Dependent Support-Weights for Stereo Matching
Kukjin Yoon, Yekeun Jeong, In So Kweon
Asian Conference on Computer Vision (ACCV), oral presentation 2009 / 09
190. Efficient Color Feature Extraction and Matching for Motion Estimation and Mapping
Hyoseok Hwang, In So Kweon
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS) 2008 / 09
189. Spherical Region-Based Matching of Vanishing Points in Catadioptric Images
Jean-Charles Bazin, In So Kweon, Cedric Demonceaux, Pascal Vasseur
OMNIVIS (ECCV) 2008 / 10
188. A Robust Top-Down Approach for Rotation Estimation and Vanishing Points Extraction by Catadioptric Vision in Urban Environment
Jean-Charles Bazin, In So Kweon, Cedric Demonceaux, Pascal Vasseur
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2008 / 09
187. Robust Vision-based Autonomous Navigation against Environment Changes
Jungho Kim, Yunsu Bok, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2008 / 09
186. Efficient Feature Tracking for Scene Recognition using Angular and Scale Constraints
Jungho Kim, Ouk Choi, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2008 / 09
Board Pagination Prev 1 ... 20 21 22 23 24 25 26 27 28 29 ... 35 Next
/ 35