KR101230344B1 - A method and an appratus for photographing an image in a stereo-vision system - Google Patents

Abstract

PURPOSE: An image recording device for a stereo vision system is provided to show a highly qualified stereo vision system from a less qualified camera by choosing an image of an object from two different cameras at particular intervals. CONSTITUTION: An image photographing unit(410) films an object. A camera control unit(450) obtains images of the object obtained from a first camera and a second camera at particular time intervals by turns. An image estimation unit(470) obtains information of the image based on the obtained 3 images. A image processing unit(480) extracts the 3D information by using the image information and estimated image information. [Reference numerals] (450) Camera control unit; (460) Camera control unit; (470) Image estimation unit; (480) Image processing unit; (AA,CC) Camera; (BB) Lamp unit

Description

Image capturing method of stereo vision system and apparatus therefor {A METHOD AND AN APPRATUS FOR PHOTOGRAPHING AN IMAGE IN A STEREO-VISION SYSTEM}

The present invention relates to an image capturing method of a stereo vision system and a device thereof, and more particularly, to grasping an intersection image using a plurality of cameras in a stereo vision system, thereby providing a high performance camera using a low performance camera. The present invention relates to an image capturing method of a stereo vision system and a device thereof.

In addition, the present invention provides a method and apparatus for imaging a stereo vision system that can take a close-up image of a moving subject at high speed using a low-performance camera by grabbing the intersection image using a plurality of cameras in the stereo vision system It is about.

Background Art A number of image photographing apparatuses that acquire physical information (eg, speed, direction, rotation, etc. of a subject) of a subject by using image information obtained by photographing a still or moving subject have been introduced.

In particular, recently, digital cameras such as DSLR (Digital Single Lens Reflex) have been widely used, and the image capturing device is widely used by the majority of consumers, and due to the development of related technology, the low cost image capturing device is widely used. It is becoming.

One of the objectives of the image capturing apparatus is to find or recognize a subject from the acquired image information, which cannot be implemented using a single camera, but requires at least two cameras and is used to implement the technique. This is a stereo vision system (SVS).

Stereo vision system is an application field of computer vision for realizing human visual system, and it means an imaging system obtained by two cameras composed of left and right, which is used for auto parking and unmanned driving system of automobiles in industry. In addition, in athletic games, the movement and speed of a player may be checked, or in a game such as baseball, golf, and soccer, which uses a ball, the movement speed and direction of a ball, which is a subject, may be checked based on the acquired image information. Can be used.

On the other hand, if the subject moves at a very high speed, or if the image is taken very close to the subject, the camera speed, which indicates the speed at which the film is shot through the camera's exposure device, must be very high, but the camera speed must be high. In this case, it is very expensive to implement a stereo vision system using such a camera.

Therefore, there is a demand for a method capable of implementing the same stereo vision system as a high performance camera using a low cost camera having a low performance.

The present invention was devised to solve the above problems, and the two cameras used in the stereo vision system are not time-synchronized, and the image is obtained by grabbing an image of a subject at an intersection with a predetermined time difference, thereby obtaining a price. An object of the present invention is to provide a method and apparatus for imaging a stereo vision system that can implement a stereo vision system similar to a high performance camera using a camera having a relatively low camera speed.

Still another object of the present invention is to obtain predictive image information based on image information obtained from a plurality of cameras included in the stereo vision system, through which the image capturing method of the stereo vision system that can determine the physical characteristics of the subject And provision of the device.

The problems of the present invention are not limited to those mentioned above, and other problems not mentioned above may be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the image photographing apparatus of the stereo vision system according to the present invention includes an image capturing unit including a first camera and a second camera for photographing a subject and an illumination unit for generating a flash when photographing a subject; ; And a camera controller which controls the first camera and the second camera to grab an image of the subject at an intersection and acquire image information at a predetermined time difference without time synchronization.

The present invention is characterized in that it further comprises a lighting control unit for controlling the lighting unit to operate in time synchronization with the grab of the image by the first camera and the second camera.

The camera controller may be configured such that the first camera grabs an image at a speed of 450 fps, and the second camera grabs an image 1/900 seconds after grabbing an image of the first camera at a speed of 450 fps. And the lighting controller controls the lighting unit to operate every 1/900 seconds.

The present invention may further include an image estimator for obtaining predictive image information based on image information obtained from the first camera and the second camera.

The image estimating unit obtains first predictive image information by using first image information and second image information obtained from the first camera, and third image information obtained from the second camera. It is done.

The first image information and the second image information indicate an image of a continuous frame obtained from the first camera, and the third image information includes the first image information and the second image information from a second camera. It characterized in that the frame obtained in between.

The present invention may further include an image processor which acquires physical characteristics of the subject based on the image information obtained from the image capturing unit and the predicted image information obtained from the image estimating unit.

In order to achieve the above object, an image capturing method of a stereo vision system according to the present invention includes: acquiring image information of a subject using an image capturing unit including a first camera and a second camera and an illumination unit for generating a glare during photographing; ; Obtaining predictive image information based on the acquired image information; And acquiring information about a physical characteristic of the subject based on the image information and the predicted image information, wherein the first camera and the second camera are not time-synchronized, and the image of the subject of intersection is separated by a predetermined time difference. Grab to obtain the image information.

The present invention is characterized in that the lighting unit operates in time synchronization with the grab of the image by the first camera and the second camera.

The present invention is characterized in that the prediction image information is obtained by using the first image information and second image information obtained from the first camera and the third image information obtained from the second camera.

The first image information and the second image information indicate an image of a continuous frame obtained from the first camera, and the third image information includes the first image information and the second image information from a second camera. It characterized in that the frame obtained in between.

The present invention provides the following advantages and advantages.

First of all, the two cameras used in the stereo vision system are not time-synchronized and acquire image information by grabbing an image of a subject at an intersection with a predetermined time difference. The same stereo vision system as a camera can be implemented.

Second, the prediction image information is obtained based on the image information obtained from the plurality of cameras included in the stereo vision system, and through this, the physical characteristics of the subject may be checked, thereby increasing the accuracy of the prediction image information.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a view for explaining a stereo vision system.
2 is a diagram illustrating a method of installing a camera in a stereo vision system.
3 is a diagram illustrating a sequence of grabbing an image by a camera in a general stereo vision system.
4 is a block diagram showing the configuration of a stereo vision imaging apparatus according to an embodiment of the present invention.
FIG. 5 is a block diagram illustrating a specific configuration, additional configuration, and function of each component of the image photographing apparatus shown in FIG. 4.
6 is a diagram illustrating a sequence of grabbing an image by a camera in the image photographing apparatus according to an exemplary embodiment of the present invention.
7 is a diagram illustrating an image photographed using an image photographing apparatus according to an exemplary embodiment of the present invention.
9 is a diagram illustrating a method of estimating an image using an image photographed using an image photographing apparatus according to an exemplary embodiment of the present invention.
FIG. 10 is a block diagram illustrating a configuration of a sensing device for a virtual golf simulation shown in FIG. 9.
FIG. 11 is a diagram illustrating a process of detecting whether a user hits a ball, which is a subject, by a hit detection unit of a sensing device according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

In particular, in the present specification, information is a term that includes values, parameters, coefficients, elements, and the like, and in some cases, the meaning may be interpreted differently. The invention is not limited to this.

1 is a view for explaining a stereo vision system.

Referring to FIG. 1A, a person may recognize an object in three dimensions because the right eye and the left eye recognize different images. Images of the retina obtained by the binocular are obtained by synthesizing each other in the brain 100, which is obtained by the minute difference of the images obtained by the binocular. The image obtained by such a minute difference is transmitted to the processing part of the brain through the optic nerve of the retina, and the transmitted electrical signal finds characteristics through various processing processes of the brain and compares it with the information stored in the brain. Will be recognized.

Referring to FIG. 1B, it is a stereo vision system that introduces a process of recognizing a target object through both eyes to computer vision. Therefore, the stereo vision system includes a camera 110 corresponding to the human eye and a computer 120 corresponding to the human visual system.

2 is a diagram illustrating a method of installing a camera in a stereo vision system.

Referring to FIG. 2, a method of installing a camera in a stereo vision system may be divided into sequential and simultaneous methods. The sequential method is a method of inputting images in order using one camera without installing cameras at the same time.

On the other hand, the simultaneous method is to install both cameras to acquire images at the same time is a method commonly used in current stereo vision system. Synchronous type is divided into (a) Parallel Camera Setup and (b) Crossing Camera Setup depending on the camera configuration, which is classified according to how the optical axis of the camera is configured. Parallel expressions are parallel to the vertical or horizontal, and cross expressions are close to the human eye structure by making the camera's optical axis coincide.

The parallel installation method has the advantage of easy distance measurement, but it has the disadvantage that it is impossible to make a high quality stereoscopic image because there is no parallax adjustment function of the stereoscopic image. It has the advantage of being possible.

3 is a diagram illustrating a sequence of grabbing an image by a camera in a general stereo vision system.

As shown in FIG. 3, grabbing of an image in a typical stereo vision system is based on an intersection of time-synchronized images taken by two different cameras based on four frames.

For example, as shown in FIG. 3, when capturing an image with two cameras having a shooting speed of 450 fps (frame per second), an image of 450 frames per second can be obtained through each camera. The distance and direction of the photographed subject may be checked using the time synchronized image.

However, if you want to shoot a close-up subject very fast, you will need a camera with higher performance. For example, if you need to shoot a subject using two cameras with 900 fps performance, the price of the camera is very high. It is expensive and it is difficult to construct a stereo vision system.

Accordingly, there is a need for a method capable of constructing a stereo vision system using a low cost camera without using an expensive camera in order to photograph a subject having a high speed of movement in close proximity.

4 is a block diagram showing a configuration of a stereo vision imaging apparatus according to an embodiment of the present invention, Figure 5 is a detailed configuration and additional configuration and the function of each component of the image recording apparatus shown in FIG. The block diagram shown.

As shown in FIG. 4, the stereo non-dedicated image photographing apparatus 400 according to the present invention includes an image capturing unit 410 and a controller 420. In addition, the image capturing unit 410 includes a plurality of cameras 430 and an illuminating unit 440 including at least one or more lights that cause glare when capturing.

As described above with reference to FIG. 3, the general stereo vision imaging apparatus is configured to continuously capture an image of a subject by synchronizing time by one or more frames. The camera may take an image of the subject at the intersection.

For example, in the case of an image recording device consisting of two cameras having a speed of 450 fps, the grabbing of the image using the first camera (Camera # 1) is made, and the image using the second camera (Camera # 2) 1/900 seconds later. If it is configured to grab, the effect of shooting with a camera having a speed of 900fps by using two cameras having a speed of 450fps can be obtained. Of course, in this case, since the subjects are photographed at different positions, in order to extract 3D information from the captured images, a process of estimating a blank image in the middle by extracting front and rear images of each camera is additionally required.

The controller 420 controls the plurality of cameras 430 of the image capturing unit 410 to grab an image at a predetermined time difference, while the lighting unit 440 is configured to grab an image when the plurality of cameras 430 grab an image. It plays a role to control operation.

A detailed configuration of the image capturing apparatus 400 illustrated in FIG. 4 and a function of each component will be described with reference to FIG. 5.

As shown in FIGS. 4 and 5, the flow of information in the image capturing apparatus 400 according to the present invention is performed in the order of the image capturing unit 410-> image estimating unit 470-> image processing unit 480. The controller 420 includes the camera controller 450 and the lighting controller 460 to control the plurality of cameras 430 and the lighting unit 440.

The image capturing unit 410 grabs an image with a predetermined time difference by a plurality of cameras according to a signal from the camera control unit 450, and the lighting unit 440 generates a plurality of cameras 430 according to a signal from the lighting control unit 460. ) Provides lighting at the rate at which the image is grabbed.

For example, the camera controller 450 may grab an image using the first camera Camera # 1 in two cameras having a speed of 450 fps, and use the second camera Camera # 2 after 1/900 seconds. The grabbing of the image is controlled, and the lighting controller 460 may control the lighting unit to provide an optical environment in which the camera can capture the image at a speed of 900 fps.

In response to a signal from the camera controller 450, the first camera (eg, the camera on the left side) and the second camera (eg, the camera on the right side) of the image capturing unit 410 capture an intersection image with a predetermined time difference. To obtain the image information. However, as described above, since the acquired image information is not information about an image captured by time synchronization (that is, the intersection of the image information acquired through the first camera and the second camera does not occur). Based on the image information, information about a physical characteristic of the subject such as 3D information cannot be obtained.

The image estimator 470 obtains predicted image information based on image information obtained from the first camera and the second camera. Specifically, the first prediction image information is obtained by using the first image information and the second image information obtained from the first camera, and the third image information obtained from the second camera.

Meanwhile, the first image information and the second image information represent an image of a continuous frame obtained from the first camera, and the third image information is provided between the first image information and the second image information from a second camera. The image of the acquired frame is shown. A detailed description of the process of obtaining the predictive image information by the image estimator 470 will be described later with reference to FIG. 8.

The image capturing apparatus according to the present invention includes a grabber (not shown) for digitizing an electric image signal captured by the image capturing unit 410 and image information obtained from the image capturing unit 410 and the image estimating unit 470. It may further include a database (not shown) for storing the obtained prediction image information.

The image processor 480 may acquire information about a physical characteristic of the subject using image information obtained from the image capturing unit 410, predictive image information obtained from the image estimating unit 470, or information stored in a database. For example, when a moving subject is photographed using the image capturing unit 410, the image processor 480 may obtain information about a distance to the subject, a speed and a direction of the subject, and the like using the information.

As shown in FIG. 3, when the first camera (camera # 1) and the second camera (camera # 2) take time-synchronized images in each frame, high performance is required to take a close-up image of a subject having high speed movement. There is a need for an expensive camera.

The present invention proposes a method of obtaining an effect of capturing images with a high performance camera by using a low performance camera by adjusting a grab sequence by taking images at an intersection.

Hereinafter, the operation of the image photographing apparatus according to the embodiment of the present invention will be described with reference to FIG. 6. On the other hand, those skilled in the art will be able to understand the image photographing apparatus other than the operation of grabbing the image, the following description will be mainly focused on the operation of grabbing the image.

6 is a diagram illustrating a sequence of grabbing an image by a camera in the image photographing apparatus according to an exemplary embodiment of the present invention.

As shown in FIG. 6, the image capturing apparatus 400 according to an exemplary embodiment of the present invention is characterized in that two cameras grab an intersection image.

In other words, when shooting images using two cameras with the performance of N fps (N> 0, where N means camera speed), the first camera (camera # 1) After 1 / 2N seconds, configure the second camera (camera # 2) to work. In this case, an effect of photographing an image using a camera having a performance of 2N fps can be obtained.

For example, as shown in FIG. 6, when capturing an image using two cameras having a performance of 450 fps, the second camera (camera # 2 after 1/900 seconds after the start of the grab of the first camera (camera # 1) is started. If you grab the image, you can grab the image with a camera with a performance of 900fps.

As described above with reference to FIG. 5, the principles of the present invention can be implemented by allowing the camera controller 450 to control a plurality of cameras. That is, the camera controller 450 is configured such that the first camera camera # 1 grabs an image and after a predetermined time (for example, after 1/900 second in FIG. 6), the second camera camera # 2 grabs an image. To control.

7 is a diagram illustrating an image photographed using an image photographing apparatus according to an exemplary embodiment of the present invention.

As shown in FIG. 7, an image photographed using the image photographing apparatus 400 according to an exemplary embodiment of the present invention acquires an intersection image between a first camera camera # 1 and a second camera camera # 2. do.

In this case, since the intersection of the images of the two cameras does not occur, it is impossible to obtain 3D information or the like of the subject. Therefore, a process of acquiring an image between the acquired images of each camera by using the acquired images at the intersection is necessary.

8 is a diagram illustrating a method of estimating an image using an image photographed using an image photographing apparatus according to an exemplary embodiment of the present invention.

Images captured using the image capturing apparatus 400 according to an exemplary embodiment of the present invention grab an intersection image using two cameras, and thus cannot directly obtain time-synchronized images.

Therefore, as shown in FIG. 8, the first predicted image is obtained by using the image (frame # 1_1) acquired in the first frame of the first camera (camera # 1) and the image (frame # 1_2) acquired in the second frame. (Predicted) The image (P_frame # 1_1) can be obtained, the same image obtained in the second frame of the first camera (camera # 1) (frame # 1_2) and the image obtained in the third frame (frame # 1_3), a second predicted image P_frame # 1_2 may be obtained.

On the other hand, when estimating an image of a subject moving at high speed (for example, the movement of a golf ball in a golf game, the movement of a baseball in a baseball game, etc.) using the above-described method, the speed, direction, It is very difficult to predict the rotation and so on, and its accuracy is very low.

Therefore, in order to increase the accuracy of the predicted image, the image capturing apparatus 400 according to an exemplary embodiment of the present invention acquires the image (frame # 1_1) and the second frame obtained from the first frame of the first camera (camera # 1). The first predicted image (P_frame # 1_1) using three images including not only the image (frame # 1_2) acquired from the image but also the image (frame # 2_1) obtained from the first frame of the second camera (camera # 2). ).

That is, in the case of the parallel stereo camera of FIG. 2A, an image photographed using the first camera (camera # 1) and an image photographed using the second camera (camera # 2) are displayed on the x, y, and z coordinates. Coordinate values are the same, and in the case of the crossover stereo camera of FIG. 2B, one coordinate value is the same. Therefore, as described above, using three images (frame # 1_1, frame # 1_2 and frame # 2_1) is more accurate than using two images (frame # 1_1 and frame # 1_2). Can increase.

Prediction of an image using three images in the image capturing apparatus 400 according to an embodiment of the present invention may be implemented using various methods. For example, a method of estimating an image by using a difference between a previous image and a current image or dividing a single image into blocks may be used. One of ordinary skill in the art may understand the image capturing apparatus of the present invention that estimates an image in addition to the above-described method.

As described above, the image photographing apparatus according to the present invention can be used in various industrial fields and sports fields. Hereinafter, an embodiment of the present invention for implementing a sensing device for a virtual golf simulation using the image photographing apparatus according to the present invention.

9 illustrates a sensing device for a virtual golf simulation including an image photographing apparatus according to an embodiment of the present invention, and FIG. 10 is a block diagram illustrating a configuration of a sensing device for a virtual golf simulation shown in FIG. 9.

In general, for a virtual golf simulation, a sensing device 900 for sensing that a user hits a ball and an image related to a virtual golf course are implemented, and a virtual golf course is generated according to the sensing result of the sensing device 900. In order to provide a simulation image for the trajectory of the ball is configured to include a simulator (not shown) that proceeds the virtual golf simulation.

As shown in FIG. 9, in the virtual golf simulation apparatus, a batter 920 for allowing a user to swing a golf is provided at a bottom of a golf booth that provides a predetermined size of space, and at one side of the batter 920. The batting mat 925 is provided so that the user can hit the ball placed on the batting mat 925 at the plate 920 by a golf swing, and a screen is provided at the front to receive the image information from the simulator. And to project the image onto the screen.

9 and 10, the sensing device 900 according to an embodiment of the present invention includes an image capturing unit 930 including a plurality of cameras 905 and 910 and an illumination unit 915, and the image. Image of the virtual golf course by receiving information and image information according to the sensing result from the sensing processing unit 935 and the sensing processing unit 935 to extract the physical characteristics of the moving ball by processing the image taken from the photographing unit 930 Or image processing unit 985 for performing a predetermined image processing for realizing a simulation image of a trajectory of a ball unfolding in a virtual golf course, and outputting image information received from the image processing unit 985 on a screen. A database 995 for storing image information obtained from the image output unit 990, the image capturing unit 930, and the like, and the image processing unit 985, the image output unit 990, and the database 995. And a motion image containing a control 970 for controlling.

Although the image capturing unit 930 may configure a stereo vision system including two cameras which are time-synchronized, the physical characteristics of the ball (eg, the speed of the ball) may be captured by photographing a golf ball moving at high speed using a low-cost camera. In order to extract the moving direction of the ball, the rotation of the ball, etc.), as described above, it may be configured to snap the image by using two cameras at the intersection.

The sensing processing unit 935 receives the image obtained through the image capturing unit 930 and collects and collects the image from the grabber 955 and the grabber 955 sequentially, thereby preparing for hitting. The hit detection unit 960 for detecting whether or not a hit was made by the user, and when the hit is detected by the hit detection unit 960, the database determines the hit point and displays image information before and after the hit point. An image estimator 965 which obtains predictive image information based on the image information, and a ball image that extracts physical characteristics of a ball as a subject based on the image information before and after the hitting point and the predicted image information. The image photographing unit 93 is matched with the image information obtained from the processor 970 and the image capturing unit 930 and the predicted image information obtained from the image estimating unit 965. And a conversion unit 975 for converting two-dimensional information of each camera in 0) into three-dimensional information, or inversely converting three-dimensional information extracted by matching information about a plurality of cameras to two-dimensional information. do.

The image processor 985 performs a predetermined image processing for implementing an image of a virtual golf course or a simulation image of a trajectory of a ball unfolding in a virtual golf course, and the image output unit 990 performs the image. The image information transmitted from the processor 985 is output on the screen so that the user can visually recognize the image. The database 995 stores all data related to the sensing device 900.

FIG. 11 is a diagram illustrating a process of detecting whether a user hits a ball, which is a subject, by a hit detection unit of a sensing device according to an embodiment of the present invention.

As shown in FIG. 11A, the hit detection unit 960 sets and separates a hitting area in a source image of several frames and finds a ball therefrom. In general, the hitting area of the hitting mat 925 is a hitting area. Set it. In this way, by separating the hitting area and finding the ball only in it, it is much faster and more accurate to find the ball than finding the ball throughout the source image.

The process of finding the ball by the hit detection unit 960 may be performed by various methods. For example, a predetermined time may be determined by analyzing the degree to which the ball template preset as a reference image of the ball and a specific object existing in the hit area are similar to each other. If the level is similar, the specific object may be determined to be a ball.

As shown in FIG. 11B, a sensing area 1100 of a predetermined size can be set such that one ball is freely included around the sensed ball, and it is determined whether a ball exists in the sensing area 1100. It can be determined whether or not the user hit.

That is, in the state shown in FIG. 11B, as shown in FIG. 11C, it is possible to determine whether the user is hit by detecting that the ball does not exist in the sensing area 1100. When the hit detection unit 960 detects that the ball, which is the subject, is hit by the user, the hit detection unit 960 examines an image of a plurality of frames acquired before the detected time point, and the exact time point at which the ball starts to move. That is, the impact point of view is identified, and image information of a plurality of frames before and after the impact point is stored in the database 995, and transmitted to the image estimator 965, and the image estimator 965 based on the image information. Acquire predictive image information.

The ball image processor 970 measures the speed, direction, and rotation of the ball moving based on the image information before and after the impact point received from the hit detection unit 960 and the predicted image information received from the image estimator 965. The physical property information of the containing ball is calculated.

The physical characteristic information of the ball obtained through the ball image processing unit 970 is transmitted to a simulator (not shown), and the simulator outputs a simulation image of moving the ball in the virtual golf course based on the image output unit 990. By outputting through the virtual golf simulation proceeds.

As described above, in the present invention, two cameras used in a stereo vision system are not time-synchronized, and grab an image of a subject at an intersection with a predetermined time difference to obtain image information, so that a camera having a relatively low cost and a low speed camera By using the present invention can provide a method and apparatus for imaging the stereo vision system that can implement the same stereo vision system with a good camera.

The present invention also provides a method and apparatus for photographing a stereo vision system that can obtain predictive image information based on image information obtained from a plurality of cameras included in a stereo vision system, and thereby confirm physical characteristics of a subject. Can provide.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood that various modifications and changes may be made without departing from the scope of the appended claims.

Claims (11)

An image capturing unit including a first camera and a second camera capturing a subject to obtain image information, and an illuminator generating a flash when photographing the subject;
A camera controller which controls the first camera and the second camera to grab an image of a subject at an intersection at a predetermined time interval without time synchronization and to acquire image information in which an intersection portion does not occur;
Acquire predictive image information based on three image information among the image information obtained from the first camera and the second camera, wherein two consecutive frame images obtained from the first camera and the second camera from the second camera; Acquiring first prediction image information corresponding to two consecutive frames obtained from the first camera by using three image information including a frame image acquired between two consecutive frame images obtained from a first camera, The second image using three image information including two consecutive frame images obtained from the second camera and a frame image obtained between two consecutive frame images obtained from the second camera from the first camera; An image estimator obtaining second predictive image information corresponding to two consecutive frames obtained from a camera; And
And an image processing unit for extracting 3D information using the image information obtained from the first camera and the second camera and the first and second prediction image information. .
The method of claim 1,
And a lighting control unit for controlling the lighting unit to operate in synchronization with the grabbing of the images of the first and second cameras in time.
The method of claim 2,
The camera controller controls the first camera to grab an image at a speed of 450 fps, and the second camera to grab an image 1/900 seconds after an image grab of the first camera is performed at a speed of 450 fps,
The lighting controller is an image photographing apparatus of a stereo vision system, characterized in that for controlling the operation of the lighting unit every 1/900 seconds.
delete delete delete The method of claim 1,
The image processing unit extracts the 3D information based on the image information obtained from the image capturing unit and the predicted image information obtained from the image estimating unit, and acquires physical characteristics of the subject. Device.
Acquiring image information of a subject by using an image photographing unit including a first camera and a second camera and an illumination unit for generating a flash when shooting;
The first image using three image information including two consecutive frame images obtained from the first camera and a frame image obtained between two consecutive frame images obtained from the first camera from the second camera; Acquiring first prediction image information corresponding to two consecutive frames obtained from a camera, and performing two consecutive frame images obtained from the second camera, and two consecutive two images acquired from the second camera from the first camera. Acquiring second prediction image information corresponding to two consecutive frames obtained from the second camera by using three image information including frame images acquired between frame images; And
And extracting 3D information based on the image information obtained from the first camera and the second camera and the first and second prediction image information to obtain information about a physical characteristic of the subject.
And the first camera and the second camera are not time-synchronized and grab an image of a subject at an intersection with a predetermined time difference to obtain image information in which an intersection portion does not occur.
The method of claim 8,
And the lighting unit operates in time synchronization with grabs of images by the first and second cameras.
delete delete

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