KR20170006097A - Simulation apparatus and simulation method for evaluation of performance of underwater video mosaicking algorithm - Google Patents

Simulation apparatus and simulation method for evaluation of performance of underwater video mosaicking algorithm Download PDF

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KR20170006097A
KR20170006097A KR1020150096523A KR20150096523A KR20170006097A KR 20170006097 A KR20170006097 A KR 20170006097A KR 1020150096523 A KR1020150096523 A KR 1020150096523A KR 20150096523 A KR20150096523 A KR 20150096523A KR 20170006097 A KR20170006097 A KR 20170006097A
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axis
image
underwater
absolute position
camera
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KR101863744B1 (en
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김진환
홍성훈
박정홍
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한국과학기술원
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G06F17/50—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image
    • G06T3/40—Scaling the whole image or part thereof
    • G06T3/4015—Demosaicing, e.g. colour filter array [CFA], Bayer pattern
    • H04N5/225—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing

Abstract

The present invention relates to an underwater image mosaicking algorithm for evaluating the performance of an underwater image mosaicking algorithm used in an unmanned underwater vehicle to acquire an image of the undersea surface and to estimate the camera trajectory and image development based on the image. A simulation apparatus for performance evaluation, and a method thereof. The simulation apparatus for evaluating the performance of an underwater image mosaicking algorithm according to the present invention is provided with an underwater terrain poster on the bottom surface and photographs the underwater terrain poster while providing X, Y, Z axis movement and yawing motion to provide image data A simulated unattended underwater exercising apparatus configured to provide absolute position data along with the motion data; Acquiring the image data and the absolute position data from the simulated unmanned underwater exercise device, estimating a camera trajectory and an image developed by an underwater image mosaicking algorithm using the image data, and using the image data and the absolute position data A control unit configured to generate a reference camera trajectory and a reference image development view, perform qualitative evaluation by comparing the estimated image development view with the reference image development view, and perform quantitative evaluation by comparing the estimated camera trajectory with the reference camera trajectory; And a display unit configured to display the qualitative and quantitative evaluation results evaluated by the control unit.

Figure P1020150096523

Description

TECHNICAL FIELD [0001] The present invention relates to a simulation apparatus and a method for evaluating performance of an underwater image mosaicking algorithm,

The present invention relates to a simulation apparatus and a method thereof for evaluating the performance of an underwater video mosaicking algorithm. More particularly, the present invention relates to a simulation apparatus and method for evaluating the performance of an underwater video mosaicking algorithm, The present invention relates to a simulation apparatus and method for evaluating the performance of an underwater image mosaicking algorithm for evaluating the performance of an underwater image mosaicking algorithm in an indoor environment.

Recently, with the development of robot technology, UUV (Unmanned Underwater Vehicle) is widely used in various fields. Especially, there is a lot of interest in underwater image mosaicking algorithms to more effectively acquire the full view of the mission area based on several underwater images obtained using the unmanned underwater vehicle in the deep sea environment where human being is difficult to reach . The global mapping obtained by the underwater image mosaic algorithm can be an important data in the academic field in which geological, archaeological and ecological studies are carried out and can be very useful in terms of damage assessment for underwater structures.

However, since the underwater image mosaicking algorithm has been extensively studied, since it is impossible to use the GPS in the actual underwater environment, it is not possible to easily obtain the reference data to be used for comparison. As a result, the performance of the underwater image mosaicking algorithm can be accurately grasped There was no problem.

It is therefore an object of the present invention to provide a simulation apparatus for evaluating the performance of an underwater image mosaicking algorithm which can accurately evaluate an underwater image mosaicking algorithm even in an indoor environment, To provide a method.

In order to achieve the above object, a simulation apparatus for evaluating the performance of an underwater image mosaicking algorithm according to an embodiment of the present invention includes an underwater terrain poster attached on the bottom surface, and performs X, Y, Z axis movement and yawing motion A simulated unattended underwater exercise device configured to photograph the underwater terrain posters to provide image data and provide absolute position data; Acquiring the image data and the absolute position data from the simulated unmanned underwater exercise device, estimating a camera trajectory and an image developed by an underwater image mosaicking algorithm using the image data, and using the image data and the absolute position data A control unit configured to generate a reference camera trajectory and a reference image development view, perform qualitative evaluation by comparing the estimated image development view with the reference image development view, and perform quantitative evaluation by comparing the estimated camera trajectory with the reference camera trajectory; And a display unit configured to display qualitative and quantitative evaluation results evaluated by the control unit.

A simulation apparatus for evaluating the performance of an underwater image mosaicking algorithm according to one embodiment of the present invention is characterized in that the simulated unmanned underwater exercise apparatus includes a rectangular frame surrounding the underwater terrain posters and having a predetermined height, An X-axis ball screw installed to rotate the rotary motion into a linear motion on the X-axis, an X-axis step motor configured to provide a rotational force to the X-axis ball screw, A Y-axis ball screw provided on the X-axis ball nut and configured to convert rotational motion into a linear motion on the Y-axis, a Y-axis step motor configured to provide a rotational force to the Y-axis ball screw, a Y- A Y-axis ball nut mounted on the shaft ball screw and configured to perform linear motion on the Y-axis, A Z-axis ball screw configured to convert the rotational motion into a linear motion on the Z-axis, a Z-axis stepping motor configured to provide a rotational force to the Z-axis ball screw, A Z-axis ball nut, a monocular camera supported on the Z-axis ball nut by the support base to photograph the underwater terrain post on the lower side to provide image data, and a yawing step motor configured to yaw the monocular camera ; The control unit may be configured to acquire image data from the monocular camera.

In the simulation apparatus for evaluating the performance of the underwater image mosaicking algorithm according to the above embodiment, the simulated unmanned underwater exercise apparatus includes a device for controlling the turbidity and the illuminance to simulate a more realistic underwater environment of the image data .

The simulated unmanned underwater exercising apparatus according to one embodiment of the present invention is a simulation apparatus for evaluating the performance of an underwater image mosaicking algorithm. The simulated unmanned underwater exercise apparatus includes an X-axis stepping motor A Y-axis encoder mounted within the Y-axis stepping motor and configured to provide an absolute position on the Y-axis, a Z-axis encoder mounted within the Z-axis stepping motor and configured to provide an absolute position on the Z- And a yawing encoder mounted inside the yawing stepping motor and configured to provide an absolute position of the yawing motion; The controller may be configured to obtain the absolute positions from the X, Y, Z axis encoders and the yaw encoders.

A simulation apparatus for evaluating the performance of an underwater image mosaicing algorithm according to the embodiment includes an X-axis step motor driving unit configured to receive a control signal from the control unit and to be switched to control driving of the X-axis stepping motor, Axis stepping motor, and a Y-axis stepping motor driving unit configured to receive a control signal from the Z-axis stepping motor and to control the driving of the Y- A yawing step motor driving unit configured to receive a control signal from the control unit and to control the driving of the yawing stepping motor and to control the driving of the monocular camera in response to a control signal from the control unit The single-lens camera driver It can be included.

According to another aspect of the present invention, there is provided a simulation method for evaluating performance of an underwater image mosaicking algorithm, comprising: acquiring image data from a simulated unmanned underwater exercise device; Obtaining absolute position data from the simulated unattended underwater exercise device; Estimating a camera locus and an image developed by an underwater image mosaicking algorithm using the image data obtained in the image data acquiring step; Generating a reference camera locus and a reference image development diagram using the image data and the absolute position data obtained in the image data acquiring step and the absolute position data acquiring step; Performing a qualitative evaluation by comparing the estimated image developed in the estimating step with the reference image developed in the generating step; Performing a quantitative evaluation by comparing the camera trajectory estimated in the estimation step with the reference camera trajectory generated in the generating step; And displaying the evaluated result in the qualitative evaluation step and the quantitative evaluation step through the display unit.

In the method for evaluating the performance of an underwater image mosaicking algorithm according to the another embodiment, in the qualitative evaluation step, a qualitative evaluation is performed according to the degree of alignment of the respective images in the image developed in the estimation step .

In the simulation method for performance evaluation of the underwater image mosaicking algorithm according to the another embodiment, in the quantitative evaluation step, the following equation

Figure pat00001

Where N represents the total number of images acquired by the monocular camera of the simulated unmanned underwater exercise device,

Figure pat00002
,
Figure pat00003
The
Figure pat00004
Th image, the absolute position coordinate value of the camera in the reference camera trajectory,
Figure pat00005
,
Figure pat00006
The
Figure pat00007
And the position coordinates of the camera in the estimated camera trajectory for the ith image]

The error scale defined by

Figure pat00008
) Can be used for quantitative evaluation.

According to the simulation apparatus and method for evaluating the performance of an underwater image mosaicking algorithm according to the embodiment of the present invention, an underwater terrain poster is attached to the bottom surface, and an underwater terrain poster is formed while performing X, Y, Acquiring image data and absolute position data from a simulated unmanned underwater exercise device, and acquiring absolute position data from the simulated unmanned underwater exercise device by using an underwater image mosaicking algorithm The camera trajectory and the image development view are estimated, the reference camera trajectory and the reference image development view are generated using the image data and the absolute position data, the qualitative evaluation is performed by comparing the estimated image development view with the reference image development view, Is compared with the reference camera trajectory to perform a quantitative evaluation The performance evaluation of the underwater image mosaicking algorithm is performed by the simulation apparatus for performance evaluation of the underwater image mosaicking algorithm, which includes the control unit configured in the form of a lock, and the display unit configured to display the qualitative and quantitative evaluation results evaluated by the control unit , It is possible to accurately evaluate the underwater image mosaicking algorithm even in an indoor environment.

1 is a perspective view of a simulated unmanned underwater exercise device included in a simulation apparatus for evaluating performance of an underwater image mosaicking algorithm according to an embodiment of the present invention.
2 is a control block diagram of a simulation apparatus for evaluating performance of an underwater image mosaicking algorithm according to an embodiment of the present invention.
3 is a flowchart illustrating a simulation method for evaluating performance of an underwater image mosaicking algorithm according to an embodiment of the present invention.
4 is a diagram illustrating an image developed by an underwater image mosaicking algorithm and a trajectory of a camera according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view of a simulated unmanned underwater exercise device included in a simulation apparatus for evaluating performance of an underwater image mosaicking algorithm according to an embodiment of the present invention. Fig. 2 is a control block diagram of a simulation apparatus for evaluating performance of an algorithm.

1 and 2, a simulation apparatus for evaluating the performance of an underwater image mosaicking algorithm according to an embodiment of the present invention includes a simulated unattended underwater exercise device 10, a control unit 500, a display unit 600 Axis motor driving units 610, 620, and 630, a yawing step motor driving unit 640, and a monocular camera driving unit 650. The X-, Y-, and Z-

The simulated unattended underwater exercise device 10 has an underwater terrain poster P attached to its bottom surface and photographs an underwater terrain poster P while performing X, Y, Z axis movement and yawing motion to provide image data, Data is provided. More specifically, the simulated unattended underwater exercise device 10 includes a rectangular frame F which surrounds the underwater terrain posters P and is made up of a plurality of iron materials so as to have a predetermined height, An X-axis ball screw 120 configured to convert motion into a linear motion on the X-axis, an X-axis step motor 110 connected to the X-axis ball screw 120 and a rotation axis to provide a rotational force to the X- An X-axis ball nut 130 mounted on the X-axis ball screw 120 and configured to perform a linear motion on the X-axis, and an X-axis ball nut 130 installed on the X-axis ball nut 130 to convert the rotational motion into a linear motion on the Y- A Y axis ball screw 220 connected to the Y axis ball screw 220 and a Y axis ball screw 220 connected to the Y axis ball screw 220 to provide a rotational force to the Y axis ball screw 220, A Y-axis ball nut 230 that is mounted and configured to perform linear motion on the Y-axis, a Y- A Z-axis ball screw 320 installed on the Z-axis ball screw 320 and configured to convert rotational motion into a linear motion on the Z-axis, and a Z- A Z-axis ball nut 330 mounted on the Z-axis ball screw 320 and configured to perform linear motion on the Z-axis, a Z-axis ball nut 330 mounted on a lower portion of the Z-axis ball nut 330, A single-eye camera C which is supported by the monocular camera C so as to photograph the underwater terrain post P located below and provide image data; And a motor 410. In addition, the simulated unattended underwater exercise device 10 further includes a device (not shown) for controlling turbidity and illuminance to simulate a more realistic underwater environment of the image data. Further, the simulated unattended underwater exercise device 10 includes an X-axis encoder E1 mounted inside the X-axis stepping motor 110 and configured to provide an absolute position on the X-axis, A Y-axis encoder E2 mounted to provide an absolute position on the Y-axis, a Z-axis encoder E3 mounted within the Z-axis stepping motor 310 and configured to provide an absolute position on the Z-axis, (410) and configured to provide an absolute position on the yawing motion.

The control unit 500 acquires image data and absolute position data from the simulated unattended underwater exercise device 10 (that is, acquires image data from the monocular camera C and outputs the X, Y and Z axis encoders E1, E2, E3) and the yawing encoder (E4), respectively), and acquires the absolute position data on the X, Y and Z axes and the absolute position data on the yawing motion from the yawing encoder E4, A reference camera trajectory and a reference image development view are generated using the image data and the absolute position data, the estimated image development view is compared with the reference image development view to perform qualitative evaluation, and the estimated camera trajectory is compared with the reference camera And is configured to perform a quantitative evaluation in comparison with the trajectory.

The display unit 600 is an output device configured to display the qualitative and quantitative evaluation results evaluated by the control unit 500 on the screen.

The X-axis stepping motor driving unit 610 is a switching device configured to receive a control signal from the control unit 500 and to perform switching operation to control the driving of the X-axis stepping motor 110.

The Y-axis stepping motor driving unit 620 is a switching device configured to receive a control signal from the control unit 500 and to perform switching operation to control the driving of the Y-axis stepping motor 210.

The Z-axis stepping motor driving unit 630 is a switching device configured to receive a control signal from the control unit 500 and to perform switching operation to control the driving of the Z-axis stepping motor 310.

The yawing step motor driving unit 640 is a switching device configured to receive a control signal from the control unit 500 and to control the driving of the yawing step motor 410 by switching operation.

The monocular camera driving unit 650 is a switching device configured to receive a control signal from the control unit 500 and to control the driving of the monocular camera C by switching operation.

The control unit 500 and the display unit 600 may include a PC (Personal Computer), a notebook computer, a smart phone, and a PDA (Personal Digital Assistant).

Hereinafter, a simulation method for evaluating the performance of the underwater image mosaicking algorithm implemented by the simulation apparatus for evaluating the performance of the underwater image mosaicking algorithm according to the embodiment of the present invention will be described.

3 is a flowchart illustrating a simulation method for evaluating performance of an underwater image mosaicking algorithm according to an embodiment of the present invention, wherein S represents a step.

First, the control unit 500 acquires image data from the simulated unattended underwater exercise device 10 (S10) and acquires absolute position data from the simulated unattended underwater exercise device 10 (S20).

Then, the control unit 500 estimates the camera locus and the image developed by the underwater image mosaicking algorithm using the image data obtained in step S10 (S30). Fig. 4 shows the image developed by the underwater image mosaicking algorithm and the trajectory (blue part) of the camera.

Then, the control unit 500 generates a reference camera locus and a reference image development diagram using the image data and the absolute position data obtained in steps S10 and S20 (S40).

In step S50, the control unit 500 performs a qualitative evaluation by comparing the image developed in step S30 with the reference image developed in step S40. The qualitative evaluation is evaluated by the degree of alignment indicating how well each image is aligned in the image developed in step S30.

In step S60, the control unit 500 compares the camera locus estimated in step S30 with the reference camera locus generated in step S40, and performs quantitative evaluation. That is, in step S60, the following Equation 1

Figure pat00009

Where N represents the total number of images acquired by the monocular camera of the simulated unmanned underwater exercise device,

Figure pat00010
,
Figure pat00011
The
Figure pat00012
Th image, the absolute position coordinate value of the camera in the reference camera trajectory,
Figure pat00013
,
Figure pat00014
The
Figure pat00015
And the position coordinates of the camera in the estimated camera trajectory for the ith image]

The error scale defined by

Figure pat00016
). ≪ / RTI > In other words,
Figure pat00017
), The worse the evaluation is made, and the error measure
Figure pat00018
), The better the evaluation is made.

In step S70, the control unit 500 outputs the display control signal to the display unit 600, so that the results evaluated in step S50 and step S60 are displayed on the display unit 600. [

According to the simulation apparatus and method for evaluating the performance of an underwater image mosaicking algorithm according to an embodiment of the present invention, an underwater terrain poster is attached to the bottom surface, and an underwater terrain poster is formed while performing X, Y, Acquiring image data and absolute position data from a simulated unmanned underwater exercise device, and acquiring absolute position data from the simulated unmanned underwater exercise device by using an underwater image mosaicking algorithm The camera trajectory and the image development view are estimated, the reference camera trajectory and the reference image development view are generated using the image data and the absolute position data, the qualitative evaluation is performed by comparing the estimated image development view with the reference image development view, Is compared with the reference camera locus to make a quantitative evaluation The performance evaluation of the underwater image mosaicking algorithm is performed by the simulation apparatus for evaluating the performance of the underwater image mosaicking algorithm including the configured control unit and the display unit configured to display the qualitative and quantitative evaluation results evaluated by the control unit, The underwater image mosaicking algorithm can be accurately evaluated even in an indoor environment.

Although the best mode has been shown and described in the drawings and specification, certain terminology has been used for the purpose of describing the embodiments of the invention and is not intended to be limiting or to limit the scope of the invention described in the claims. It is not. Therefore, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: Simulated unmanned underwater exercise device P: Underwater terrain poster
F: Square frame C: Monocular camera
110: X-axis stepping motor 210: Y-axis stepping motor
310: Z-axis stepper motor 410: Yawing step motor
E1: X-axis encoder E2: Y-axis encoder
E3: Z axis encoder E4: Yawing encoder
500: control unit 600: display unit
610: X-axis stepping motor driving part 620: Y-axis stepping motor driving part
630: Z-axis stepping motor driving part 640: Ying stepping motor driving part
650: monocular camera driver

Claims (8)

A simulated unattended underwater exercise device attached to an underwater terrain poster on the bottom surface and configured to photograph the underwater terrain posters while performing X, Y, Z axis movement and yawing motion to provide image data and provide absolute position data;
Acquiring the image data and the absolute position data from the simulated unmanned underwater exercise device, estimating a camera trajectory and an image developed by an underwater image mosaicking algorithm using the image data, and using the image data and the absolute position data A control unit configured to generate a reference camera trajectory and a reference image development view, perform qualitative evaluation by comparing the estimated image development view with the reference image development view, and perform quantitative evaluation by comparing the estimated camera trajectory with the reference camera trajectory; And
And a display unit configured to display qualitative and quantitative evaluation results evaluated by the control unit. The method according to claim 1,
The simulated unmanned underwater exercise device includes:
A square frame surrounding the underwater terrain posters and having a predetermined height,
An X-axis ball screw installed on the rectangular frame and configured to convert a rotational motion into a linear motion on the X-axis,
An X-axis step motor configured to provide a rotational force to the X-axis ball screw,
An X-axis ball nut mounted on the X-axis ball screw and configured to perform linear motion on the X-axis,
A Y-axis ball screw installed on the X-axis ball nut and configured to convert the rotational motion into a linear motion on the Y-axis,
A Y-axis stepping motor configured to provide a rotational force to the Y-axis ball screw,
A Y-axis ball nut mounted on the Y-axis ball screw and configured to perform linear motion on the Y-axis,
A Z-axis ball screw installed on the Y-axis ball nut and configured to convert the rotational motion into a linear motion on the Z-axis,
A Z-axis stepping motor configured to provide a rotational force to the Z-axis ball screw,
A Z-axis ball nut mounted on the Z-axis ball screw and configured to perform linear motion on the Z-axis,
A monocular camera supported on the Z-axis ball nut by a support base to photograph the underwater terrain post in a downward direction to provide image data, and
And a yawing step motor configured to yaw the monocular camera;
Wherein the controller is configured to acquire image data from the monocular camera. 3. The method of claim 2,
Wherein the simulated unattended underwater exercising apparatus further comprises a device for adjusting turbidity and illuminance to simulate a more realistic underwater environment of the image data. 3. The method of claim 2,
The simulated unmanned underwater exercise device includes:
An X-axis encoder mounted inside the X-axis stepper motor and configured to provide an absolute position on the X-axis,
A Y-axis encoder mounted inside the Y-axis stepper motor and configured to provide an absolute position on the Y-axis,
A Z-axis encoder mounted within the Z-axis stepper motor and configured to provide an absolute position on the Z-axis, and
And a yawing encoder mounted inside the yawing stepping motor and configured to provide an absolute position of the yawing motion;
Wherein the controller is configured to obtain the absolute positions from the X, Y, Z axis encoders and the yaw encoders. 3. The method of claim 2,
An X-axis step motor driving unit configured to receive a control signal from the control unit and to be switched to control driving of the X-axis stepping motor,
A Y-axis stepping motor driving unit configured to receive a control signal from the control unit and to be switched to control driving of the Y-axis stepping motor,
A Z-axis step motor driving unit configured to receive a control signal from the control unit and to be switched to control driving of the Z-axis stepping motor,
A yawing step motor driving unit configured to receive a control signal from the control unit and to perform switching operation to control the driving of the yawing step motor,
And a monocular camera driver configured to receive a control signal from the control unit and to control the driving of the monocular camera in response to a switching operation. A simulation method for performance evaluation of an underwater image mosaicking algorithm implemented by a simulation apparatus for performance evaluation of an underwater image mosaicking algorithm according to any one of claims 1 to 5,
Acquiring image data from a simulated unattended underwater exercise device;
Obtaining absolute position data from the simulated unattended underwater exercise device;
Estimating a camera locus and an image developed by an underwater image mosaicking algorithm using the image data obtained in the image data acquiring step;
Generating a reference camera locus and a reference image development diagram using the image data and the absolute position data obtained in the image data acquiring step and the absolute position data acquiring step;
Performing a qualitative evaluation by comparing the estimated image developed in the estimating step with the reference image developed in the generating step;
Performing a quantitative evaluation by comparing the camera trajectory estimated in the estimation step with the reference camera trajectory generated in the generating step; And
And displaying the evaluated result in the qualitative evaluation step and the quantitative evaluation step through a display unit. The simulation method for the performance evaluation of the underwater image mosaicking algorithm. The method according to claim 6,
Wherein the qualitative evaluation step performs a qualitative evaluation based on the degree to which each image is arranged in the image development map estimated in the estimation step, in order to evaluate the performance of the underwater image mosaicking algorithm. The method according to claim 6,
In the quantitative evaluation step,

Figure pat00019


Where N represents the total number of images acquired by the monocular camera of the simulated unmanned underwater exercise device,
Figure pat00020
,
Figure pat00021
The
Figure pat00022
Th image, the absolute position coordinate value of the camera in the reference camera trajectory,
Figure pat00023
,
Figure pat00024
The
Figure pat00025
And the position coordinates of the camera in the estimated camera trajectory for the ith image]
The error scale defined by
Figure pat00026
A Simulation Method for Performance Evaluation of Underwater Image Mosing Algorithm with Quantitative Evaluation Using.
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