CN101243691A - Method and apparatus for estimating motion vector based on block - Google Patents
Method and apparatus for estimating motion vector based on block Download PDFInfo
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- CN101243691A CN101243691A CNA2006800296659A CN200680029665A CN101243691A CN 101243691 A CN101243691 A CN 101243691A CN A2006800296659 A CNA2006800296659 A CN A2006800296659A CN 200680029665 A CN200680029665 A CN 200680029665A CN 101243691 A CN101243691 A CN 101243691A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
- H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
- H04N19/51—Motion estimation or motion compensation
- H04N19/567—Motion estimation based on rate distortion criteria
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
- H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
- H04N19/51—Motion estimation or motion compensation
- H04N19/533—Motion estimation using multistep search, e.g. 2D-log search or one-at-a-time search [OTS]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
- H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
- H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
- H04N19/176—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
- H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
- H04N19/51—Motion estimation or motion compensation
- H04N19/56—Motion estimation with initialisation of the vector search, e.g. estimating a good candidate to initiate a search
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Abstract
Provided is a method and apparatus for block-based motion estimation, in which a motion vector is estimated by allocating different search points for blocks in a frame having a plurality of block groups. A video motion estimation method includes allocating different search points for blocks in each block group of an input video frame, estimating candidate motion vectors for the blocks by measuring the degree of block distortion between frames at each of the allocated search points, and measuring the degree of block distortion to which each of the estimated candidate motion vectors is applied , by applying the estimated candidate motion vectors to a current block, and determining the candidate motion vector having the minimum degree of block distortion to be a final motion vector of the current block.
Description
Technical field
The present invention relates to a kind of video compression system, more particularly, relate to a kind of method and apparatus that is used for estimation, wherein, obtain motion vector by distribute the search point for each piece in the frame with a plurality of groups.
Background technology
Usually, personal computer (PC) or high definition TV (HDTV) are carried out the frame rate conversion compatible mutually with program, and described program is followed various broadcast standards, such as line-by-line inversion (PAL) or national television system committee (NTSC).Frame rate conversion (FRC) is the operation of quantity that changes the frame of per second output.Specifically, when frame per second increases, need to insert new frame.Along with the progress of recent broadcast technology, after video data is compressed according to video compression standard (such as Motion Picture Experts Group (MPEG) and H.263), carry out frame rate conversion.
In the field of Video processing, vision signal has redundancy usually because their height is relevant.Can improve efficiency of data compression by during data compression, removing redundancy.In this case, in order effectively to compress time dependent frame of video, need on time-axis direction, remove redundant.In other words, show not have to move or the frame of light exercise, can significantly reduce the amount of the data that will be sent out by replacing with previous frame.Estimation (ME) is the operation of the search piece the most similar to the piece in the present frame in the frame formerly.The degree of motion vector (MV) indicator collet motion.
Two kinds of method for estimating are arranged: pixel-recursive algorithm (PRA) and block matching algorithm (BMA).BMA owing to its simplicity, hard-wired easily and can handle in real time and be widely used in video coding or FRC.
BMA comprises all direction search method and three steps search (TSS) method.
Although all direction search method provides accurate movement information by the piece that search in the field of search has minimum absolute difference sum (SAD), this method needs a large amount of calculating.
The TSS method also reduces from the interval in the step that search center begins simultaneously by the search match point, and best estimation is provided.
Fig. 1 is a concept map of explaining traditional TSS method.In Fig. 1, the field of search of 101 expression reference frames, the reference block of 102 expression reference frames, the piece of 103 expression present frames, 104 expression search points.
With reference to Fig. 1, the SAD between the reference search point that (0,0) is located and its adjacent 8 search point is carried out comparison, to obtain to have the search point of minimum SAD.Reduce by half by the interval that will go on foot then and carry out search from the search of the search point beginning that obtains.Become 1 by repeat search up to the interval in search step, obtain to have the final search point 105 of minimum SAD, the search point 105 that is obtained is confirmed as final motion vector.
Summary of the invention
Technical problem
But in traditional TSS method, a plurality of local minimums in the piece may cause incorrect search.
With reference to Fig. 2,5 and the corresponding minimum SAD of error function are arranged in single.Therefore, in the TSS method, expect only to have single minimum SAD between the adjacent in time piece, but in fact, have the minimum SAD in several parts between the adjacent in time piece, this causes obtaining movable information accurately.Consequently, traditional TSS method is because the minimum SAD in a plurality of parts may cause the branch blocking artefacts (blocking artifact) in the real image.In addition, because traditional TSS method has the fixing search point that is used for all pieces, so can not easily estimate to drop on the movable information outside the hunting zone.
Technical scheme
The invention provides a kind of method that is used for block-based estimation, wherein,, reduce amount of calculation thus and estimation accurately is provided by distributing different search points to estimate initial motion vectors for the piece in the frame with a plurality of groups.
The present invention also provides a kind of equipment that is used for block-based estimation, wherein, and by distributing different search points to estimate initial motion vectors for the piece in the frame with a plurality of groups.
Beneficial effect
As mentioned above, according to the present invention, at video coding, FRC or be interlaced to line by line in the conversion (IPC),, can reduce amount of calculation and realize estimation accurately by be the different search point of piece distribution in the reference frame.In addition, during the estimation in real image issuable local minimum error values can be minimized, realize estimation more accurately thus.
Description of drawings
In conjunction with the drawings exemplary embodiment of the present invention is described in detail, above and other characteristics of the present invention and advantage will become clear, wherein:
Fig. 1 is a concept map of explaining traditional three steps search (TSS) method;
Fig. 2 is the curve chart that illustrates according to the absolute difference sum (SAD) of the TSS method among Fig. 1;
Fig. 3 is the block diagram according to the equipment that is used for block-based estimation of the embodiment of the invention;
Fig. 4 is depicted as the example that the piece in the piece group of frame of video distributes different search points;
Fig. 5 to Fig. 8 is depicted as the example that the piece among Fig. 4 distributes different search points;
Fig. 9 is the concept map of estimation of the first error matching unit of the equipment in the key-drawing 3;
Figure 10 is the concept map of estimation of the second error matching unit of the equipment in the key-drawing 3; And
Figure 11 is the flow chart that illustrates according to the method that is used for block-based estimation of the embodiment of the invention.
Best mode
According to an aspect of the present invention, provide a kind of video motion estimating method, the method comprises: for defeated The piece that enters in each piece group of frame of video distributes different search points; Survey by the search point in each distribution Measure the degree of the piece distortion between the frame, estimate the candidate motion vector of piece; And the time by estimating Select motion vector to be applied to current block, measure the piece distortion of the candidate motion vector of having used each estimation Degree, and the candidate motion vector that will have a degree of smallest blocks distortion is defined as the final of current block Motion vector.
According to a further aspect in the invention, provide a kind of Video Motion Estimation equipment, this equipment comprises search Point allocation units, error matching unit and motion vector determining unit. Search point allocation units are looked for input Frequently the piece in each piece group of frame distributes different search points. The error matching unit is by in each distribution Search point measurement frame between the degree of piece distortion, estimate the initial motion vectors of piece. Motion vector Determining unit is applied to current block by the candidate motion vector that will estimate, measures and has used each estimation The degree of piece distortion of candidate motion vector, and the initial motion that will have the degree of smallest blocks distortion Vector is defined as the motion vector of current block.
Embodiment
Describe exemplary embodiment of the present invention below with reference to accompanying drawings in detail.
Fig. 3 is the block diagram according to the equipment that is used for block-based estimation of the embodiment of the invention.
With reference to Fig. 3, the equipment that is used for block-based estimation comprises search point allocation units 310, the first error matching unit 320 and motion vector determining unit 330.Motion vector determining unit 330 comprises the second error matching unit 332, multiplied by weight unit 334 and minimum value selected cell 336.
At first import two frame of video of (that is, occurring in sequence in time) adjacent one another are in time.These two frame of video comprise present frame and the reference frame adjacent in time with this present frame.
Search point allocation units 310 are divided into a plurality of groups with reference frame, and are the different search point of piece distribution in each piece group.Fig. 4 shows the example of distributing different search points into the piece in the piece group of frame of video.With reference to Fig. 4, the whole zone of reference frame is divided into a plurality of 8 * 8 block of pixels, and these 8 * 8 block of pixels are grouped into a plurality of 2 * 2 groups.These piece groups are 2 * 2 types, but also can be 3 * 3 or 4 * 4 types.Therefore, for the piece in each the piece group in the reference frame distributes different search points, to allow in piece, to search for the motion of different sizes and type.Fig. 5 to Fig. 8 shows the example of distributing different search points into the piece among Fig. 4.Fig. 5 illustrates the search point that distributes for the estimation of the motion vector of the piece among Fig. 4 401.With reference to Fig. 5,501 expression hunting zones, 502 expression pieces, 503 expression center search point, 504 expression search points.The scope that is used to search for the search point 504 of the big motion on the horizontal direction is level ± 11 pixels and vertical ± 4 pixels from center search point 503 beginnings.Fig. 6 illustrates the search point that distributes for the estimation of the piece among Fig. 4 402.With reference to Fig. 6, the scope that is used to search for the search point of the middle motion on the horizontal direction is level ± 8 pixels and vertical ± 4 pixels that begin from center search point.Fig. 7 illustrates the search point that distributes for the estimation of the piece among Fig. 4 403.With reference to Fig. 7, the scope that is used to search for the search point of the little motion on the horizontal direction is level ± 5 pixels and vertical ± 4 pixels that begin from center search point.Fig. 8 illustrates the search point that distributes for the estimation of the motion vector of the piece among Fig. 4 404.With reference to Fig. 8, the scope that is used to search for the search point of slight movement is level ± 2 pixels and vertical ± 2 pixels that begin from center search point.
With reference to Fig. 3, the first error matching unit 320 mates the present frame of reference frame (search point allocation units 310 have distributed the search point for this reference frame) with input, to produce the initial motion vectors MV1 to MV4 of piece.In an embodiment of the present invention, be that 2 * 2 groups produce MV1, MV2, MV3 and MV4.With reference to Fig. 9, the hunting zone of the reference block of 901 expression reference frames, the reference block of 902 expression reference frames, the current block of 903 expression present frames.The error function that the first error matching unit 320 can use equation 1 to provide comes the distortion level between witness mark piece 902 and the current block 903.
Wherein, (l, k) (RB represents reference block to Er for l, the distortion level between the current block of k) locating, and CB represents current block, (i, j) remarked pixel position, BS for expression reference block and current location
yBlock size on the expression y direction, BS
xBlock size on the expression x direction.(that is, the SAD between two pieces of current location (l, k)) beginning measures distortion level from the center in this error function use.Therefore, the first error matching unit 320 obtain with Fig. 5 to Fig. 8 in corresponding SAD of each search point of distributing, and (l k) is defined as the initial motion vectors of piece will to have the position of minimum SAD.
The second error matching unit 332 is applied to current block by the initial motion vectors that the first error matching unit 320 is determined, attempts the estimation of current block once more.In other words, because piece has the initial motion vectors of using different search points to determine, so described has different initial motion vectors.Therefore, can be applied to current block, estimate the suitable motion vector of current block by initial motion vectors with adjacent block.With reference to Figure 10, (i j) has motion vector MV4 to current block.With current block (i, j) adjacent piece (i, j-1), (i-1, j-1) and (i-1 j) has motion vector MV1, MV2 and MV3 respectively.Therefore, by motion vector MV1, the MV2 of adjacent block and the motion vector MV4 of MV3 and current block are applied to current block, carry out the error function between reference block and the current block.Consequently, the second error matching unit, 332 use error functions are that current block produces 4 SAD:SAD1, SAD2, SAD3 and SAD4.
Multiplied by weight unit 334 is applied to described 4 SAD respectively with weights W 1, W2, W3 and W4.In other words, because adjacent block has different hunting zones, and in real image, the piece that level is adjacent has identical motion usually, so the SAD that can obtain by the motion vector that different weights is applied to the adjacent block by current block estimates motion vector more accurately.Multiplied by weight unit 334 can be applied to SAD with different weights according to various movable informations (such as locus or the amount of exercise by the piece of current block reference).
Minimum value selected cell 336 is selected to have by multiplied by weight unit 334 it has been used the motion vector of the minimum SAD among 4 SAD of weight, as final motion vector.
Available equation 2 is represented the calculating that multiplied by weight unit 334 and minimum value selected cell 336 are carried out.
Figure 11 is the flow chart that illustrates according to the method that is used for block-based estimation of the embodiment of the invention.
In operation 1110, two frame of video of (that is, occurring in sequence in time) adjacent one another are in time are transfused to.These two frame of video comprise present frame and the reference frame adjacent in time with this present frame.
In operation 1120, reference frame is divided into a plurality of groups, and is used in the difference search point of the motion of the different sizes of search for the piece branch in each piece group.
In operation 1130, in the search point measurement present frame of the distribution that is used for each piece and the degree of the piece distortion between the reference frame.In operation 1140, use the candidate motion vector of estimating each piece in the degree of operating the 1130 piece distortions of measuring.At this moment, use SAD to measure the degree of piece distortion.
Then, be applied to current block, attempt estimation once more by candidate motion vector with adjacent block.For example,, measure distortion level, obtain 4 SAD thus by 4 candidate motion vectors are applied to current block in operation 1150.
Operating 1160, different weights is being applied to the SAD that is obtained according to the direction of motion.
In operation 1170, the candidate motion vector with minimum SAD is confirmed as the final motion vector of current block.
Utilizability on the industry
The present invention also can be implemented as the computer-readable code on the computer readable recording medium storing program for performing.Computer readable recording medium storing program for performing is any data storage device of the data that can storage computation machine system can read thereafter.The example of computer readable recording medium storing program for performing comprises read-only memory (ROM), random-access memory (ram), CD-ROM, tape, floppy disk, optical data storage device and carrier wave.Computer readable recording medium storing program for performing also can be distributed in the computer system of network connection, thereby stores and computer readable code executed according to distributed way.
Although specifically show and described the present invention with reference to exemplary embodiment of the present invention, but will be understood by those skilled in the art that, under the situation of the spirit and scope of the present invention that do not break away from the claim qualification, can make the various changes of form and details to it.
Claims (14)
1, a kind of video motion estimating method comprises:
For the piece in each piece group of input video frame distributes different search points;
By the degree of the piece distortion between the search point measurement frame of each distribution, estimate the candidate motion vector of piece; And
Be applied to current block by the candidate motion vector that will estimate, measure the degree of the piece distortion of the candidate motion vector of having used each estimation, and the candidate motion vector that will have a degree of smallest blocks distortion is defined as the final motion vector of current block.
2, video motion estimating method according to claim 1, wherein, distribute the step of different search points to comprise:
Import two frame of video adjacent one another are in time; And
The piece of reference frame that will be adjacent in time with present frame is divided into a plurality of groups, and is the different search point of piece distribution in each piece group, and described reference frame and present frame are included in described two frame of video.
3, video motion estimating method according to claim 1, wherein, distribute the step of different search points to comprise: size and type according to motion are that piece distributes different search points.
4, video motion estimating method according to claim 1 wherein, distributes the step of different search points to comprise: the piece that uses the variable number in each piece group.
5, video motion estimating method according to claim 1 wherein, distributes the step of different search points to comprise: to change the arrangement of search point for the piece in each piece group.
6, video motion estimating method according to claim 1 wherein, uses absolute difference sum (SAD) to measure the degree of piece distortion.
7, video motion estimating method according to claim 1, wherein, the step of determining final motion vector comprises: be applied to current block by the motion vector with the adjacent block of the motion vector of current block and current block, measure the degree of the piece distortion of the candidate motion vector of having used each estimation.
8, video motion estimating method according to claim 1 wherein, determines that the step of final motion vector comprises: the degree that weight is applied to the piece distortion that produces into candidate motion vector.
9, video motion estimating method according to claim 8 wherein, is applied to different weights according to the arrangement of the search point in the adjacent block of current block the degree of piece distortion.
10, video motion estimating method according to claim 8 wherein, is applied to different weights according to the locus by the piece of current block reference the degree of piece distortion.
11, a kind of Video Motion Estimation equipment comprises:
Search point allocation units are for the piece in each piece group of input video frame distributes different search points;
The error matching unit by the degree of the piece distortion between the search point measurement frame of each distribution, is estimated the candidate motion vector of piece; And
The motion vector determining unit, be applied to current block by the candidate motion vector that will estimate, measure the degree of the piece distortion of the candidate motion vector of having used each estimation, and the initial motion vectors that will have a degree of smallest blocks distortion is defined as the motion vector of current block.
12, Video Motion Estimation equipment according to claim 11, wherein, search point allocation units are that piece distributes different search points according to the size of motion with type.
13, Video Motion Estimation equipment according to claim 11, wherein, the motion vector determining unit comprises:
The second error matching unit is applied to current block by the initial motion vectors that will estimate, measures the degree of the piece distortion of the candidate motion vector of having used each estimation, produces a plurality of error function values thus;
The unit that multiplies each other is applied to weight according to the direction of motion error function value that is produced by the second error matching unit; And
The minimum value selected cell, the initial motion vectors that will have the smallest error function value is defined as the motion vector of current block.
14, a kind of computer readable recording medium storing program for performing records the program that is used for video motion estimating method on it, described video motion estimating method comprises:
For the piece in each piece group of input video frame distributes different search points;
By the degree of the piece distortion between the search point measurement frame of each distribution, estimate the candidate motion vector of piece; And
Be applied to current block by the candidate motion vector that will estimate, measure the degree of the piece distortion of the candidate motion vector of having used each estimation, and the candidate motion vector that will have a degree of smallest blocks distortion is defined as the final motion vector of current block.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2006-0010053 | 2006-02-02 | ||
| KR1020060010053 | 2006-02-02 | ||
| KR1020060010053A KR101217627B1 (en) | 2006-02-02 | 2006-02-02 | Method and apparatus for estimating motion vector based on block |
| PCT/KR2006/004689 WO2007089068A1 (en) | 2006-02-02 | 2006-11-10 | Method and apparatus for block-based motion estimation |
Publications (2)
| Publication Number | Publication Date |
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| CN101243691A true CN101243691A (en) | 2008-08-13 |
| CN101243691B CN101243691B (en) | 2011-04-13 |
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| CN2006800296659A Expired - Fee Related CN101243691B (en) | 2006-02-02 | 2006-11-10 | Method and apparatus for estimating motion based on block |
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| Country | Link |
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| EP (1) | EP1980113A4 (en) |
| JP (1) | JP5089610B2 (en) |
| KR (1) | KR101217627B1 (en) |
| CN (1) | CN101243691B (en) |
| WO (1) | WO2007089068A1 (en) |
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| CN102917197A (en) * | 2011-08-04 | 2013-02-06 | 想象技术有限公司 | External vectors in a motion estimation system |
| WO2014009864A2 (en) * | 2012-07-09 | 2014-01-16 | Squid Design Systems Pvt Ltd | Programmable variable block size motion estimation processor |
| CN110612725A (en) * | 2017-05-31 | 2019-12-24 | 三星电子株式会社 | Processing apparatus and control method thereof |
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| KR100948164B1 (en) * | 2008-01-03 | 2010-03-16 | 서울시립대학교 산학협력단 | Motion estimation method and motion estimator using a center biased search pattern |
| KR100929608B1 (en) * | 2008-01-17 | 2009-12-03 | 한양대학교 산학협력단 | Video motion estimation method and device using fast global search block matching algorithm |
| KR101036552B1 (en) * | 2009-11-02 | 2011-05-24 | 중앙대학교 산학협력단 | Apparatus and method for fast motion estimation based on adaptive search range and partial matching error |
| KR101441905B1 (en) | 2009-11-18 | 2014-09-24 | 에스케이텔레콤 주식회사 | Motion Vector Coding Method and Apparatus by Using Candidate Predicted Motion Vector Set Selection and Video Coding Method and Apparatus Using Same |
| KR101678654B1 (en) * | 2010-06-11 | 2016-11-22 | 에스케이 텔레콤주식회사 | Method and Apparatus of adaptive motion vector predictors selection for competition-based motion vector coding, and Recording Medium therefor |
| KR101280298B1 (en) * | 2011-07-07 | 2013-07-01 | 에스케이하이닉스 주식회사 | Method for estimating motion vector based on block |
| KR101347272B1 (en) * | 2011-11-04 | 2014-01-10 | 연세대학교 산학협력단 | Method and apparatus for inter prediction |
| CN104469380B (en) * | 2014-12-25 | 2019-05-03 | 中国电子科技集团公司第四十一研究所 | Video image forecasting search method based on H.264/AVC standard |
| KR102716731B1 (en) * | 2016-09-20 | 2024-10-11 | 엘지디스플레이 주식회사 | Image processing method and display device using the same |
| KR102132335B1 (en) * | 2018-09-20 | 2020-07-09 | 주식회사 핀텔 | Object Region Detection Method, Device and Computer Program Thereof |
| CN111836055B (en) * | 2020-07-17 | 2023-01-10 | 上海顺久电子科技有限公司 | Image processing device and image block matching method based on image content for MEMC |
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2006
- 2006-02-02 KR KR1020060010053A patent/KR101217627B1/en not_active IP Right Cessation
- 2006-11-10 EP EP06812523A patent/EP1980113A4/en not_active Ceased
- 2006-11-10 JP JP2008553143A patent/JP5089610B2/en not_active Expired - Fee Related
- 2006-11-10 CN CN2006800296659A patent/CN101243691B/en not_active Expired - Fee Related
- 2006-11-10 WO PCT/KR2006/004689 patent/WO2007089068A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102917197A (en) * | 2011-08-04 | 2013-02-06 | 想象技术有限公司 | External vectors in a motion estimation system |
| WO2014009864A2 (en) * | 2012-07-09 | 2014-01-16 | Squid Design Systems Pvt Ltd | Programmable variable block size motion estimation processor |
| WO2014009864A3 (en) * | 2012-07-09 | 2014-03-27 | Squid Design Systems Pvt Ltd | Programmable variable block size motion estimation processor |
| CN110612725A (en) * | 2017-05-31 | 2019-12-24 | 三星电子株式会社 | Processing apparatus and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101217627B1 (en) | 2013-01-02 |
| JP5089610B2 (en) | 2012-12-05 |
| KR20070079411A (en) | 2007-08-07 |
| CN101243691B (en) | 2011-04-13 |
| JP2009525663A (en) | 2009-07-09 |
| EP1980113A4 (en) | 2009-04-29 |
| WO2007089068A1 (en) | 2007-08-09 |
| EP1980113A1 (en) | 2008-10-15 |
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