KR20230100213A - Apparatus and method for displaying curvature of subject - Google Patents

Abstract

An object curvature display device and method are disclosed. The subject curvature display device includes a photographing unit configured to photograph a subject using an even number of cameras configured to form a plurality of overlapping photographing areas and generate respective images; And detecting the edge of the subject in each of the generated images, and combining cameras according to the number of all cases having overlapping shooting areas based on the image in which the edge of the subject is detected, and using a stereo vision method to obtain a binocular disparity value and a control unit that calculates a distance value from a camera that has taken the image to the subject, and visualizes a preset reference image based on the calculated distance value.

Description

Apparatus and method for displaying subject curvature {APPARATUS AND METHOD FOR DISPLAYING CURVATURE OF SUBJECT}

Embodiments disclosed herein relate to an apparatus and method for displaying object curvature, and more particularly, to provide an interface between a subject and a camera using stereo-vision based on images of a subject photographed by a plurality of cameras. An apparatus and method for displaying object curvature capable of calculating a distance and displaying a degree of curvature of a subject on an image based on the calculated distance information.

Stereo vision is a method of calculating 3D distance information using the principle of binocular parallax with two images having only 2D information acquired using a stereo camera. In this case, the 3D distance information may include depth. On the other hand, the stereo camera is used to position the same two cameras at a horizontal height and obtain a depth map using images captured by respective lenses.

As such, the degree of curvature of the subject can be measured by calculating 3D distance information including depth with an image of the subject including only 2D information using the stereo vision method.

However, in the case of using the stereo vision method as described above, there is a problem in that measurement is possible only within a specific distance range according to the characteristics of the camera lens, and measurement of the curvature of the subject is impossible within a very close range, for example, 20 cm. In addition, there is a problem that accuracy of distance measurement is lowered.

On the other hand, the above-mentioned background art is technical information that the inventor possessed for derivation of the present invention or acquired in the process of derivation of the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention. .

Korean Patent Registration No. 10-1954192 (2019.03.05 announcement)

Embodiments disclosed herein calculate a distance between a subject and a camera using stereo-vision based on an image of a subject photographed by a plurality of cameras, and calculate a distance between the subject and the image based on the calculated distance information. An object of the present invention is to provide a subject curvature display device and method capable of displaying the degree of curvature of the subject.

Other objects and advantages of the present invention may be understood from the following description, and will be more clearly understood by an embodiment. It will also be readily apparent that the objects and advantages of the present invention may be realized by means of the instrumentalities and combinations thereof set forth in the claims.

As a technical means for achieving the above-described technical problem, an object curvature display device includes: a photographing unit configured to photograph a subject using an even number of cameras configured to form a plurality of overlapping photographing regions and generate respective images; And detecting the edge of the subject in each of the generated images, and combining cameras according to the number of all cases having overlapping shooting areas based on the image in which the edge of the subject is detected, and using a stereo vision method to obtain a binocular disparity value and a control unit that calculates a distance value from a camera that has taken the image to the subject, and visualizes a preset reference image based on the calculated distance value.

According to another embodiment, a method for displaying object curvature includes generating images by photographing a subject using an even number of cameras configured to form a plurality of overlapping capturing areas; detecting an edge of a subject in each of the generated images; Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method calculating; and visualizing a preset reference image based on the calculated distance value.

According to another embodiment, the recording medium is a computer readable recording medium in which a program for performing a subject curvature display method is recorded. A method of displaying object curvature includes generating respective images by photographing a subject using an even number of cameras configured to form a plurality of overlapping photographing areas; detecting an edge of a subject in each of the generated images; Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method calculating; and visualizing a preset reference image based on the calculated distance value.

According to another embodiment, the computer program is a computer program that is executed by the object curvature display device and stored in a recording medium to perform the object curvature display method. A method of displaying object curvature includes generating respective images by photographing a subject using an even number of cameras configured to form a plurality of overlapping photographing areas; detecting an edge of a subject in each of the generated images; Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method calculating; and visualizing a preset reference image based on the calculated distance value.

According to any one of the above-described problem solving means, as the photographing unit for photographing the subject is configured by arranging a plurality of wide-angle optical cameras, there is an effect of photographing the subject even within a close distance of 20 cm or less.

In addition, according to any one of the above-described problem solving means, in measuring the distance between the camera and the subject, there is an effect of improving the accuracy of the distance measurement by applying the multi-vision method.

Effects obtainable from the disclosed embodiments are not limited to those mentioned above, and other effects not mentioned are clear to those skilled in the art from the description below to which the disclosed embodiments belong. will be understandable.

Hereinafter, the accompanying drawings illustrate preferred embodiments disclosed in this specification, and serve to further understand the technical idea disclosed in this specification together with specific details for carrying out the invention. The contents should not be construed as limited only to the matters described in such drawings.
1 is a functional block diagram of a subject curvature display device according to an exemplary embodiment.
2 to 6 are exemplary diagrams for explaining a subject curvature display device according to an exemplary embodiment.
7 is a flowchart of a method of displaying a subject curvature according to an exemplary embodiment.
8 is an exemplary diagram for explaining a method of displaying a curvature of a subject according to an exemplary embodiment.

Hereinafter, various embodiments will be described in detail with reference to the accompanying drawings. Embodiments described below may be modified and implemented in various different forms. In order to more clearly describe the characteristics of the embodiments, detailed descriptions of matters widely known to those skilled in the art to which the following embodiments belong are omitted. And, in the drawings, parts irrelevant to the description of the embodiments are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a component is said to be “connected” to another component, this includes not only the case of being “directly connected” but also the case of being “connected with another component intervening therebetween”. In addition, when a certain component "includes" a certain component, this means that other components may be further included without excluding other components unless otherwise specified.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

However, prior to explaining this, the meanings of the terms used below are first defined.

Stereo vision is a method of calculating 3D distance information using the principle of binocular parallax with two images containing only 2D information acquired using two stereo cameras positioned at a horizontal height. . In this case, the 3D distance information may include depth.

In addition to the above-mentioned terms, terms that require explanation will be separately explained below.

1 is a functional block diagram of a subject curvature display device according to an exemplary embodiment, and FIGS. 2 to 6 are exemplary diagrams for explaining a subject curvature display device according to an exemplary embodiment.

Referring to FIG. 2 , the subject curvature display device according to the present embodiment includes a photographing unit 110 , a communication unit 120 , a storage unit 130 and a control unit 140 .

The photographing unit 110 creates an image by photographing a subject. Referring to FIGS. 2 and 3 , the photographing unit 110 may include a plurality of cameras and ports. In this case, the camera may be an optical camera having a wide angle, and may be configured as a multi-vision array. An optical camera according to an embodiment may have an angle of view of 110 degrees. However, the angle of view of the optical camera is not limited to the above-described numerical values. Meanwhile, as shown in (a) and (b) of FIG. 3 , the camera may include an image sensor, a lens holder, and a lens. At this time, the camera may be completed by assembling the lens holder and the lens after mounting the image sensors of each camera on the same printed circuit board in order to match the vertical and horizontal axes of the image sensors. According to one embodiment, it is described that four image sensors are arranged at equal intervals, but is not limited thereto. Also, the port may be connected to another computing device through a USB method to transmit an image captured by a camera. Meanwhile, the above-described image sensors may be connected using two USB cables as two image sensors are configured to use one port hub.

)를 나타내며, 이때의 거리 정보는 2차원 정보만을 포함할 수 있다. 또한, 각 바운드 영역에 의해 촬영영역이 중첩됨에 따라 형성된 공통의 한 변의 길이는, 중첩되는 촬영영역을 갖는 두 개의 카메라에 의해 촬영된 이미지의 중첩영역의 거리(

)를 의미할 수 있다. 한편, 도 4를 참조하면, 중첩된 촬영영역은 제 1 바운드 영역과 제 2 바운드 영역, 제 1 바운드 영역과 제 3 바운드 영역, 제 1 바운드 영역과 제 4 바운드 영역, 제 2 바운드 영역과 제 4 바운드 영역, 제 2 바운드 영역과 제 3 바운드 영역 그리고, 제 3 바운드 영역과 제 4 바운드 영역에 의해 형성됨에 따라, 촬영영역이 중첩되는 경우의 수는 총 6개가 될 수 있다. 또한, 도 5에 도시된 바와 같이, 2개의 카메라(X, Y)에 의해 중첩되는 촬영영역이 존재하는 경우, 아래의 수학식 1에 의해 카메라에 의해 촬영된 이미지의 거리(

) 및 중첩되는 촬영영역을 갖는 두 개의 카메라에 의해 촬영된 이미지의 중첩영역의 거리(

)가 계산될 수 있다. In more detail, the photographing unit 110 according to an embodiment may generate images by photographing a subject using an even number of cameras configured to form a plurality of overlapping photographing areas. Referring to FIG. 4 , when the photographing unit 110 includes four cameras, overlapping photographing areas 410 to 440 may be confirmed. That is, the photographing unit 110 according to an embodiment may have an overlapping photographing area as shown in FIG. 4 when four cameras are disposed as shown in FIG. 2 . At this time, the first bound area 410 having a red dotted line is the shooting range taken by the first camera, the second bound area 420 having the blue dotted line is the shooting range taken by the second camera, and the green A third bound area 430 having a dotted line may mean a capturing range captured by a third camera, and a fourth bound area 440 having a purple dotted line may represent a capturing range photographed by a fourth camera. On the other hand, the length of one side of each bound area is the distance of the image captured by the camera (

), and the distance information at this time may include only two-dimensional information. In addition, the length of a common side formed as the shooting areas overlap by each bound area is the distance of the overlapping area of images captured by the two cameras having the overlapping shooting areas (

) can mean. Meanwhile, referring to FIG. 4 , the overlapping capturing areas include a first bound area and a second bound area, a first bound area and a third bound area, a first bound area and a fourth bound area, and a second bound area and a fourth bound area. As it is formed by the bound area, the second bound area and the third bound area, and the third bound area and the fourth bound area, the number of cases in which the capturing areas overlap may be 6 in total. In addition, as shown in FIG. 5, when there is a photographing area overlapped by two cameras (X and Y), the distance of the image photographed by the camera by Equation 1 below (

) and the distance of the overlapping area of the image taken by the two cameras having the overlapping recording area (

) can be calculated.

[Equation 1]

는 카메라의 렌즈 사이의 거리,

는 카메라 렌즈의 화각,

는 카메라 렌즈와 피사체와의 촬영거리,

는 두 개의 카메라에 의해 촬영된 이미지의 중첩영역의 거리,

는 카메라에 의해 촬영된 이미지의 거리일 수 있다. here,

is the distance between the lenses of the camera,

is the angle of view of the camera lens,

is the shooting distance between the camera lens and the subject,

is the distance of the overlapping area of the images taken by the two cameras,

may be the distance of the image captured by the camera.

Accordingly, 3D distance information can be calculated using the principle of binocular parallax with two images having only 2D information acquired using two cameras having overlapping areas. In other words, if there are two cameras having an overlapping area, 3D distance information can be calculated by applying stereo vision. On the other hand, according to an embodiment, it is described that the number of cameras of the photographing unit 110 is four, but the present invention is not limited thereto, and it does not matter if the number of overlapping photographing areas is plural. In other words, the number of cameras included in the photographing unit 110 is plural, but the reason why the number is set to an even number is that in the case of two cameras, there is only one overlapping photographing area, which is a conventional problem. There is a problem that the accuracy of distance measurement is lowered. Accordingly, the number of cameras included in the photographing unit 110 is set to an even number, but set to be 4 or more, and the cameras are combined according to the number of all cases having overlapping photographing areas to determine the distance using a stereo vision method. Calculate and apply the average value of the calculated distance as the distance value from the camera that took the final image to the subject to calculate depth information, thereby improving the accuracy of distance measurement and expressing the curvature of the subject more reliably. can On the other hand, a more specific description of calculating a distance value from a camera that has taken an image to a subject and displaying a curve of a subject included in the image based on the calculated distance value will be described in more detail through the control unit 140 below. do it with

The communication unit 120 may perform wired/wireless communication with other devices (devices) and/or networks. To this end, the communication unit 120 may include a communication module supporting at least one of various wired/wireless communication methods. For example, the communication module may be implemented in the form of a chipset.

Meanwhile, wireless communication supported by the communication unit 120 includes, for example, Wi-Fi (Wireless Fidelity), Wi-Fi Direct, Bluetooth, Bluetooth Low Energy (BLE), and Ultra Wide Band (UWB). , Near Field Communication (NFC), LTE, LTE-Advanced, and the like. In addition, wired communication supported by the communication unit 120 may be, for example, USB or High Definition Multimedia Interface (HDMI).

The storage unit 130 may install and store various types of data such as files, applications, and programs, and may be configured to include at least one of various types of memories such as RAM, HDD, and SSD. The control unit 140, which will be described later, may access and use data stored in the storage unit 130 or store new data in the storage unit 130. Also, the controller 140 may execute a program installed in the storage unit 130 . Meanwhile, the storage unit 130 may store an image of a subject photographed by the photographing unit 110, and a program for performing a subject curvature display method according to an exemplary embodiment may be installed. In addition, the storage unit 130 may store various pieces of information in an image of a subject, for example, coordinate information of feature points in the image. In this case, the above-described coordinate information of the feature point may be coordinate information of the edge of the subject. Meanwhile, the storage unit 130 stores various information necessary to calculate a binocular disparity value and a distance value from a camera to a subject, which will be described later, for example, subject-related coordinate information included in an image, focal length, and camera-related distance between camera sensors. information can be stored.

The controller 140 has a configuration including at least one processor such as a CPU or a GPU, and may control overall operations of the subject curvature display device 100 . That is, the controller 140 may control other elements included in the subject bending display device 100 to perform an operation for displaying the subject bending of the frame. Also, the controller 140 may execute a program stored in the storage unit 130, read a file stored in the storage unit 130, or store a new file in the storage unit 130.

The controller 140 detects an edge of a subject in an image generated by each camera included in the photographing unit 110 . That is, the controller 140 may detect an edge of a subject included in an image through image processing. In more detail, the controller 140 may detect the edge of the subject included in the image by detecting the outline of the subject area based on the change value in the pixel of the image generated by each camera.

The control unit 140 calculates a binocular disparity value by using a stereo vision method by combining cameras according to the number of all cases having overlapping capturing areas based on the image in which the edge of the subject is detected. In addition, the controller 140 calculates a distance value from a camera capturing an image to a subject based on the calculated binocular disparity value. In more detail, the controller 140 calculates a distance value from a camera that has taken an image to the subject based on the calculated binocular disparity value, and divides the calculated distance value by the number of combinations possible, and obtains an average value from the camera to the subject. It can be calculated as a distance value. For example, when four cameras 610 to 640 are included in the photographing unit 110 as shown in (a) of FIG. 6, the two cameras are combined to capture binocular parallax values and images using a stereo vision method. A distance value from a camera to a subject can be calculated. Here, as for the binocular disparity value and the distance value from the camera capturing the image to the subject, as described above, since there are a total of 6 cases of overlapping shooting areas, a binocular disparity method is applied according to each case. It is possible to calculate the value and the distance value from the camera taking the image to the subject. Meanwhile, the calculated distance value may be calculated as the distance value from the camera to the subject by adding the distance values calculated according to the number of all cases and dividing the average value by the number that can be combined. According to this, it is possible to further improve the accuracy of distance measurement. At this time, as shown in (a) of FIG. 6, it is described that the distances b12, b13, b24, and b34 between the two cameras are the same, but it is not limited thereto, and it does not matter if the distances are not the same. Meanwhile, a binocular disparity value and a distance value from a camera capturing an image using a stereo vision method by combining two cameras may be calculated by Equation 2 below.

[Equation 2]

는 특징점의 3차원 좌표,

는 카메라와 특징점과의 거리,

는 카메라 i로 촬영된 이미지에서 특징점

의 (x,y)좌표,

는 카메라 j로 촬영된 이미지에서 특징점

의 (x,y)좌표,

는 두 개의 카메라 렌즈 사이의 중심으로부터 특징점

까지의 (x,y) 좌표 거리,

는 초점 거리(이미지 센서와 카메라 렌즈 사이의 거리),

는 두 개의 카메라의 이미지 센서 사이의 거리 그리고,

는 이미지에서 특징점이 검출되었을 때 각각의 두 좌표 사이의 거리를 의미할 수 있다. 즉,

는 양안 시차값을 의미할 수 있다. 한편, 상술된 특징점은 피사체의 에지를 의미할 수 있다. 따라서, 일 실시예에 따르면, 특징점의 좌표는 피사체의 에지의 좌표를 의미할 수 있다. here,

is the 3-dimensional coordinate of the feature point,

is the distance between the camera and the feature point,

is a feature point in an image captured by camera i

(x,y) coordinates of

is a feature point in the image captured by camera j

(x,y) coordinates of

is a feature point from the center between the two camera lenses

(x,y) coordinate distance to,

is the focal length (the distance between the image sensor and the camera lens),

is the distance between the image sensors of the two cameras, and

may mean a distance between two respective coordinates when a feature point is detected in an image. in other words,

may mean a binocular parallax value. Meanwhile, the above-described feature point may mean an edge of a subject. Accordingly, according to an embodiment, the coordinates of the feature point may mean the coordinates of the edge of the subject.

On the other hand, as described above, as the photographing unit 110 is composed of a multi-vision array with four cameras, the control unit 140 generates six possible combinations, and for each possible combination case, the stereo vision method can be used to calculate the distance value. At this time, the controller 140 may calculate the average value of the six distance values according to Equation 3 below, and use the value calculated according to Equation 3 as the distance value from the lens of the camera to the feature point, that is, the edge of the subject. can

[Equation 3]

는 평균된 거리값이다.Here, i and j are respective cameras to which the stereo vision method is applied,

is the averaged distance value.

The controller 140 may visualize a preset reference image based on the calculated distance value. More specifically, the controller 140 sets any one of the generated images as a reference image, and configures a distance information matrix having distance information based on distance values calculated for each edge pixel of the set reference image. . In this case, the distance information may mean depth information. Meanwhile, the distance information matrix may be configured as shown in Equation 4 below.

[Equation 4]

Meanwhile, the controller 140 may standardize the color of the edge pixel of the reference image to have a color value of 256 units based on the minimum and maximum values of the distance information matrix. At this time, the color of the edge pixel of the reference image can be calculated according to Equation 5 below.

[Equation 5]

,

,

Here, the minimum value of the edge pixel of the reference image may be 0 and the maximum value may be 255.

The control unit 140 may form a depth map having depth information of subjects in the image by applying standardized color values to edge pixels of the reference image and displaying the visualization. According to this, the subject of the image may be displayed to have a curve. In this way, as the reference image visualized as described above forms a depth map, it is possible to check the degree of curvature of the subject. Meanwhile, since each edge pixel of the image has distance information, it may be possible to numerically calculate the curvature of the subject.

Meanwhile, the subject curvature display device 100 may further include an input/output unit (not shown).

The input/output unit may include an input unit for receiving an input from a user and an output unit for displaying information such as a result of performing a task or a state of the subject curvature display device 100 . For example, the input/output unit 110 may include an operation panel for receiving a user input and a display panel for displaying a screen.

Specifically, the input unit may include devices capable of receiving various types of inputs, such as a keyboard, a physical button, a touch screen, a camera, or a microphone. Also, the output unit may include a display panel or a speaker. However, the input/output unit 110 is not limited thereto and may include a configuration supporting various input/outputs.

7 is a flowchart of a method for displaying object curvature according to an exemplary embodiment, and FIG. 8 is an exemplary view illustrating a method for displaying object curvature according to an exemplary embodiment.

The object curvature display method according to the embodiment shown in FIG. 7 includes steps processed time-sequentially in the object curvature display device 100 illustrated in FIGS. 1 to 6 . Therefore, even if the contents are omitted below, the above description of the object curvature display device 100 shown in FIGS. 1 to 6 can also be applied to the subject curvature display method according to the embodiment shown in FIG. 7 . .

As shown in FIG. 7 , the subject curvature display device 100 according to the present embodiment generates each image by photographing a subject using an even number of cameras configured to form a plurality of overlapping photographing areas. (S710). According to an exemplary embodiment, the device 100 for displaying object curvature may generate four images 810 as shown in FIG. 8 as it is composed of four cameras.

The subject curvature display device 100 detects an edge of the subject in each image generated in step S710 (S720). The subject curvature display device 100 may detect an edge of a subject included in an image through image processing. In more detail, as shown in FIG. 8 , the subject curvature display device 100 detects the contour of the subject area based on the change value in the pixel of the image generated by each camera, and detects the edge of the subject included in the image. (820) can be detected.

The subject curvature display device 100 combines cameras according to the number of all cases having overlapping shooting areas based on the image in which the edge of the subject is detected in step S720, and captures the binocular disparity value and the image using a stereo vision method A distance value from one camera to the subject is calculated (S730). The subject curvature display device 100 calculates a binocular disparity value using a stereo vision method by combining cameras according to the number of all cases having overlapping shooting areas based on the image in which the edge of the subject is detected, and calculates the binocular disparity value Based on the value, a distance value from the camera taking the image to the subject is calculated. In more detail, the subject curvature display device 100 calculates a distance value from a camera that captures an image to the subject based on the calculated binocular disparity value, and divides the calculated distance value by the number of combinations possible, and obtains an average value obtained by dividing the calculated distance value by the number of combinations possible. It can be calculated as a distance value from to the subject.

The object curvature display device 100 visualizes a preset reference image based on the distance value calculated in step S730 (S740). The device for displaying object curvature 100 sets one of the generated images as a reference image, and configures a distance information matrix having distance information based on a distance value calculated for each edge pixel of the set reference image. In this case, the distance information may mean depth information. On the other hand, the object curvature display device 100 standardizes the color of the edge pixel of the reference image to have a color value of 256 units based on the minimum and maximum values of the distance information matrix, and the standardized color value as the edge pixel of the reference image As shown in FIG. 8 , a depth map 830 having depth information of a subject in an image may be formed. According to this, the subject of the image may be displayed to have a curve.

The term '~unit' used in the above embodiments means software or a hardware component such as a field programmable gate array (FPGA) or ASIC, and '~unit' performs certain roles. However, '~ part' is not limited to software or hardware. '~bu' may be configured to be in an addressable storage medium and may be configured to reproduce one or more processors. Therefore, as an example, '~unit' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program patent code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables.

Functions provided within components and '~units' may be combined into smaller numbers of components and '~units' or separated from additional components and '~units'.

In addition, components and '~units' may be implemented to play one or more CPUs in a device or a secure multimedia card.

Meanwhile, the subject curvature display method according to an embodiment described in this specification may be implemented in the form of a computer-readable medium storing instructions and data executable by a computer. In this case, instructions and data may be stored in the form of program codes, and when executed by a processor, a predetermined program module may be generated to perform a predetermined operation. Also, computer-readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. Also, a computer-readable medium may be a computer recording medium, which is a volatile and non-volatile memory implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. It can include both volatile, removable and non-removable media. For example, the computer recording medium may be a magnetic storage medium such as HDD and SSD, an optical recording medium such as CD, DVD, and Blu-ray disc, or a memory included in a server accessible through a network.

In addition, the subject curvature display method according to an embodiment described through this specification may be implemented as a computer program (or computer program product) including instructions executable by a computer. A computer program includes programmable machine instructions processed by a processor and may be implemented in a high-level programming language, object-oriented programming language, assembly language, or machine language. . Also, the computer program may be recorded on a tangible computer-readable recording medium (eg, a memory, a hard disk, a magnetic/optical medium, or a solid-state drive (SSD)).

Accordingly, the subject curvature display method according to an embodiment described in this specification may be implemented by executing the computer program as described above by a computing device. A computing device may include at least some of a processor, a memory, a storage device, a high-speed interface connected to the memory and a high-speed expansion port, and a low-speed interface connected to a low-speed bus and a storage device. Each of these components are connected to each other using various buses and may be mounted on a common motherboard or mounted in any other suitable manner.

Here, the processor may process commands within the computing device, for example, to display graphic information for providing a GUI (Graphic User Interface) on an external input/output device, such as a display connected to a high-speed interface. Examples include instructions stored in memory or storage devices. As another example, multiple processors and/or multiple buses may be used along with multiple memories and memory types as appropriate. Also, the processor may be implemented as a chipset comprising chips including a plurality of independent analog and/or digital processors.

Memory also stores information within the computing device. In one example, the memory may consist of a volatile memory unit or a collection thereof. As another example, the memory may be composed of a non-volatile memory unit or a collection thereof. Memory may also be another form of computer readable medium, such as, for example, a magnetic or optical disk.

And, the storage device may provide a large amount of storage space to the computing device. A storage device may be a computer-readable medium or a component that includes such a medium, and may include, for example, devices in a storage area network (SAN) or other components, such as a floppy disk device, a hard disk device, an optical disk device, or a tape device, flash memory, or other semiconductor memory device or device array of the like.

The above-described embodiments are for illustrative purposes, and those skilled in the art to which the above-described embodiments belong can easily transform into other specific forms without changing the technical idea or essential features of the above-described embodiments. You will understand. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope to be protected through this specification is indicated by the claims to be described later rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof are included in the scope of the present invention. should be interpreted as being

100: subject curvature display device
110: shooting unit
120: communication department
130: storage unit
140: control unit
210: camera
220, 360: port
310: image sensor
320: lens holder
330: lens
340: printed circuit board
350: port hub
410: first bound area
420: second bound area
430: third bound area
440: 4th bound area

Claims (10)

a photographing unit generating respective images by photographing a subject using an even number of cameras configured to form a plurality of overlapping photographing areas; and
Detecting an edge of a subject in each of the generated images,
Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method yield,
A subject curvature display device comprising: a control unit that visualizes a preset reference image based on the calculated distance value. According to claim 1,
The control unit,
An object curvature display device characterized in that an edge of a subject included in an image is detected through image processing that detects a contour of the subject area according to a change value in a pixel of each of the generated images. According to claim 2,
The control unit,
Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method and calculating an average value obtained by dividing the calculated distance value by the number of combinations possible, as a distance value from the camera to the subject. According to claim 3,
The control unit,
Setting any one of the generated images as a reference image, constructing a distance information matrix having distance information based on the calculated distance value for each edge pixel of the set reference image, and configuring the edge of the reference image Subject curvature characterized in that the color of a pixel is standardized to have a color value of 256 units based on the minimum and maximum values of the distance information matrix, and visualized by applying the standardized color value to an edge pixel of the reference image display device. In the subject curvature display method performed by the subject curvature display device,
generating respective images by photographing a subject using an even number of cameras configured to form a plurality of overlapping photographing areas;
detecting an edge of a subject in each of the generated images;
Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method calculating; and
Visualizing a preset reference image based on the calculated distance value; object curvature display method comprising a. According to claim 5,
The step of detecting the edge of the subject in the image,
and detecting an edge of a subject included in an image through image processing of detecting a contour of a subject area according to a change value in a pixel of each generated image. According to claim 6,
The step of calculating the distance value to the subject,
Based on the image in which the edge of the subject is detected, cameras according to the number of all cases having overlapping shooting areas are combined, and binocular parallax values and distance values from the camera capturing the image to the subject are obtained using a stereo vision method and calculating an average value obtained by dividing the calculated distance value by the number of combinations possible, as a distance value from the camera to the subject. According to claim 7,
Visualizing the preset reference image,
Setting any one of the generated images as a reference image, constructing a distance information matrix having distance information based on the calculated distance value for each edge pixel of the set reference image, and configuring the edge of the reference image Standardizing the color of a pixel to have a color value of 256 units based on the minimum and maximum values of the distance information matrix, and applying the standardized color value to an edge pixel of the reference image to visualize it. A method for displaying subject curvature. A computer-readable recording medium in which a program for performing the method according to claim 5 is recorded. A computer program stored in a recording medium to perform the method according to claim 5, which is executed by the subject curvature display device.

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