WO2011129488A1 - 평행축 입체카메라 - Google Patents
평행축 입체카메라 Download PDFInfo
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- WO2011129488A1 WO2011129488A1 PCT/KR2010/004916 KR2010004916W WO2011129488A1 WO 2011129488 A1 WO2011129488 A1 WO 2011129488A1 KR 2010004916 W KR2010004916 W KR 2010004916W WO 2011129488 A1 WO2011129488 A1 WO 2011129488A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/257—Colour aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Definitions
- the present invention relates to a parallel axis stereoscopic camera. More specifically, the present invention enables to control the electronic angle electronically to the parallel axis stereoscopic camera which is not mechanically controllable angle control, and to minimize the image loss caused by the electronic angle control and left and right camera alignment error.
- the present invention relates to a three-dimensional camera of a parallel axis type having an electronic perspective control function and an electronic camera alignment function.
- a stereoscopic camera obtains images of left and right by using two cameras like a human eye, and makes the viewer feel three-dimensional by the parallax of the two images.
- a parallax or binocular parallax is a difference in the direction when the same point is seen from two viewpoints, and due to such a parallax, an image of a subject in a stereoscopic camera is located at different positions on the imaging planes of the image sensors provided in the two cameras. It is concluded. The difference between such locations is called parallax, which gives the viewer the distance information about the objects and gives a sense of depth.
- the human eye moves the left and right eyes so that the parallax of the object to be observed is zero, so that the object can be observed while feeling three-dimensional comfort. Adjusting the amount of parallax is called vergence control, and when the amount of parallax of an object to be observed becomes zero, the image can be viewed most comfortably.
- the parallax amount is very large, resulting in severe fatigue.
- it is essential to control the viewing angle of the left and right cameras so that a constant parallax is maintained regardless of a change in the position of the subject.
- three-dimensional cameras used to obtain a stereoscopic image are classified into three types, a parallel axis method, a cross axis method, and a horizontal moving axis method, depending on the arrangement of left and right image sensors.
- FIG. 1 is a view for conceptually explaining the operation principle of a conventional parallel axis stereoscopic camera.
- a parallel axis stereoscopic camera is the simplest form of a binocular stereoscopic camera, and is designed to acquire images while fixing two image sensors in parallel at a distance similar to a human eye distance.
- this parallel axis stereoscopic camera has a problem in that the amount of parallax according to the distance change of the subject cannot be adjusted because there is no perspective control function.
- FIG. 2 is a view for conceptually explaining the operation principle of a conventional cross-axis stereoscopic camera.
- the conventional cross-axis type stereoscopic camera is designed to be able to control the viewing angle according to a change in distance of an object.
- This cross-axis three-dimensional camera rotates the optical axis of the image sensor in accordance with the change of the distance of the object to control the viewing angle so that the image of the object is always at the center of the left and right image sensor. It mimics the eye movements of a person when gathering inward when seeing a close object and when seeing a distant object.
- FIG. 3 is a view for conceptually explaining the operation principle of a conventional horizontal moving axis stereoscopic camera.
- a horizontal moving axis stereoscopic camera is a camera capable of controlling the vergence of a camera according to a change in distance of an observation object, such as a cross axis method.
- the lens is detached from the image sensor and then designed to adjust the viewing angle by moving the image sensor in parallel and horizontally with respect to the lens.
- the vergence control method by the parallel movement of the image sensor there is an advantage that the image distortion is relatively smaller than the cross-axis method because the amount of change in the distance between the left and right image sensors is small, but the lens and the image sensor are separated. There is a problem that there is a lot of difficulties in the production of a real three-dimensional camera, because you need to control the perspective while moving the image sensor.
- the parallel axis stereoscopic camera does not have a mechanical angle control function unlike the cross axis method or the horizontal moving axis method, but has a great advantage in that it is structurally simple.
- a method of electronically controlling the viewing angle through software signal processing has been used.
- FIG. 4 is a diagram for describing image loss caused by mechanical alignment error between a left camera and a right camera of a conventional parallel axis stereoscopic camera.
- horizontal and vertical errors occur between the left and right image sensors due to mechanical alignment errors between the left and right cameras.
- an image loss of 131,000 pixels occurred due to mechanical alignment error
- FIG. 5 is a diagram for describing an image loss occurring in a vergence control process required in a conventional parallel axis stereoscopic camera.
- a method of controlling a viewing angle in software by combining a left image with a parallax and a right image is conceptually disclosed.
- this method it is possible to control the viewing angle mainly because the image (A, B) of the front of the sensor is used as it is or by editing the pre-recorded image, but the two images are crossed (3D).
- An area 2D that is not generated may occur, and as a result, as shown in FIG. 5, a part of the left and right or top and bottom images may not be implemented in three dimensions.
- Korean Patent Laid-Open No. 10-2007-0021694 Korean Patent Laid-Open No. 10-2007- 0030501
- Korean Patent Publication No. 10-2002-0037097 Korean Patent Publication No. 10-2004-005252.
- the external memory must be provided to control the visual angle.
- the parallax of the left / right image is adjusted differently according to the read-out point of the external memory according to the vergence control signal generated externally or internally. This is how you control the angle of view.
- Video loss caused by misalignment of left and right cameras is compensated by interpolation using data stored in external memory.
- an additional external memory is required, and a problem of distortion of the image and time delay of the image by one frame or more occurs in the process of compensating for the perspective and controlling the lost image.
- An object of the present invention is to provide a three-dimensional camera of a parallel axis type having an electronic perspective control function and an electronic camera alignment function that can prevent image loss due to mechanical alignment error of the left and right cameras.
- Another object of the present invention is to provide a three-dimensional camera of a parallel axis type having an electronic perspective control function and an electronic camera alignment function that can prevent image loss in the viewing angle control process.
- the present invention also simplifies the signal processing process for the control of the viewing angle, thereby reducing the image distortion and the time delay in the stereoscopic image generation process. It is a technical problem to provide a camera.
- the present invention is to provide a three-dimensional camera of the parallel axis type having an electronic perspective control function and an electronic camera alignment function that can reduce the manufacturing cost by reducing the number of components, such as external memory required in the perspective control process. Let it be technical problem.
- Parallel axis stereoscopic camera for solving this problem is configured to include a left image sensor and a right image sensor having a higher resolution than the output image and outputting RGB data having the same resolution as the output image Viewing control unit, electronically control to eliminate the binocular disparity of the object by changing a horizontal read out start point of at least one of the camera unit, the left image sensor and the right image sensor, the control of the viewing control unit Image processing the left RGB data output from the left image sensor and outputting a left luminance / color difference signal, and outputting a right luminance / color difference signal by image processing the right RGB data output from the right image sensor.
- An image processor comprising a right image processor and the left luminance / And a stereoscopic image synthesizer for synthesizing a stereoscopic image by synthesizing a color difference signal and the right luminance / color difference signal.
- Parallel axis stereoscopic camera is a camera unit including a left image sensor and a right image sensor having a higher resolution than the output image and outputs RGB data having the same resolution as the output image, the left image
- a main vision control unit which electronically controls a binocular disparity of an object by changing a readout start point of at least one horizontal direction of a sensor and the right image sensor, and a left output from the left image sensor under control of the gaze control
- Stereoscopic RGB data synthesizing unit for synthesizing stereoscopic RGB data by synthesizing RGB data and right RGB data output from the right image sensor, and stereoscopic image comprising left luminance / color difference signal and right luminance / color difference signal by image processing the stereoscopic RGB data Configured to include an image processor for outputting an image .
- Parallel axis stereoscopic camera comprises a left image sensor and a right image sensor having a higher resolution than the output image and the camera unit for outputting RGB data having the same resolution as the output image, the left A vergence controller for electronically controlling the binocular disparity of an object by changing a readout start point in at least one horizontal direction of the image sensor and the right image sensor, and outputting from the left image sensor according to the control of the vergence controller Image processing the left RGB data to generate a left luminance / color difference signal and image processing the right RGB data output from the right image sensor to generate a right luminance / color difference signal, and the left luminance / color difference signal and the right luminance / color difference Corrected so that there is no difference in luminance and color between signals Element is an image processor, and configured to include input from the three-dimensional image processing of the left luminance / color difference signal and the right luminance / color-difference synthesis signal by synthesizing the three-dimensional image to a three-
- Parallel axis stereoscopic camera comprises a left image sensor and a right image sensor having a higher resolution than the output image, the left luminance / color difference signal and the right luminance / color difference having the same resolution as the output image
- a camera unit for outputting a signal
- a vergence controller for controlling electronically so that binocular disparity is eliminated by changing a horizontal lead-out start point of at least one of the left image sensor and the right image sensor, and the left luminance / color difference signal
- a stereoscopic image synthesizer for synthesizing a stereoscopic image by synthesizing the right luminance / color difference signal.
- the initial readout starting point of the left image sensor and the right image sensor and the resolution of the output image are set so that there is no image loss of the output image.
- the initial readout starting point of the left image sensor and the right image sensor and the resolution of the output image may be changed.
- the vergence controller calculates a binocular disparity between the left luminance / color difference signal and the right luminance / color difference signal, and the binocular between the calculated left luminance / color difference signal and the right luminance / color difference signal.
- the at least one leadout start point of the left image sensor or the right image sensor may be changed to eliminate parallax.
- the gaze angle controller is configured to calculate the binocular disparity based on an intermediate object located in the middle of the object.
- the left image sensor and the right image sensor are spaced apart from each other on a printed circuit board, and on the printed circuit board between the left image sensor and the right image sensor, the perspective control unit and the At least one of an image processing unit, the stereoscopic image synthesizing unit, the stereoscopic RGB data synthesizing unit, and the stereoscopic image processing unit is installed.
- the left image sensor and the right image sensor are spaced apart from each other on a wafer, and on the wafer between the left image sensor and the right image sensor, the vertex control unit, the image processing unit, and the And a stereoscopic image synthesizing unit, at least one of the stereoscopic RGB data synthesizing unit and the stereoscopic image processing unit.
- a three-dimensional camera of a parallel axis type having an electronic perspective control function and an electronic camera alignment function that can prevent image loss due to mechanical alignment error of the left and right cameras.
- the signal processing process for the control of the viewing angle is simplified to provide a parallel axis stereoscopic camera equipped with an electronic viewing control function and an electronic camera alignment function to minimize image distortion and time delay in the process of generating a stereoscopic image. It is effective.
- a three-dimensional camera of the parallel axis type having an electronic perspective control function and an electronic camera alignment function that can reduce the number of components, such as external memory required in the perspective control process to reduce the manufacturing cost.
- FIG. 1 is a view for conceptually explaining the operation principle of a conventional parallel axis stereoscopic camera.
- FIG. 2 is a view for conceptually explaining the operation principle of a conventional cross-axis stereoscopic camera.
- FIG. 3 is a view for conceptually explaining the operation principle of a conventional horizontal moving axis stereoscopic camera.
- FIG. 4 is a diagram for describing image loss caused by mechanical alignment error between a left camera and a right camera of a conventional parallel axis stereoscopic camera.
- FIG. 5 is a diagram for describing an image loss occurring in a vergence control process required in a conventional parallel axis stereoscopic camera.
- FIG. 6 is a diagram illustrating a parallel axis stereoscopic camera according to a first embodiment of the present invention.
- FIG. 7 is a view illustrating preventing loss of an output image due to misalignment between left and right image sensors by using a left and right image sensor having a higher resolution than a resolution of a finally output image in the first embodiment of the present invention. It is a figure for demonstrating the principle.
- FIG. 8 illustrates a principle of preventing loss of an output image in a vergence control process by using left and right image sensors having a higher resolution than a resolution of an output image finally output according to the first embodiment of the present invention. It is a figure for following.
- 9 to 11 are diagrams for describing a detailed vergence control method according to a first embodiment of the present invention.
- FIG. 12 is a view showing a parallel axis stereoscopic camera according to a second embodiment of the present invention.
- FIG. 13 is a diagram illustrating a parallel axis stereoscopic camera according to a third embodiment of the present invention.
- FIG. 14 is a view showing a parallel axis stereoscopic camera according to a fourth embodiment of the present invention.
- FIG. 6 is a diagram illustrating a parallel axis stereoscopic camera according to a first embodiment of the present invention.
- the parallel axis stereoscopic camera includes a camera unit 10, a viewing angle control unit 20, an image processing unit 30, and a stereoscopic image synthesizing unit 40. do.
- the camera unit 10 includes a left lens module 11, a left image sensor 12, a right lens module 13, and a right image sensor 14, and includes a left image sensor 12 and a right image sensor ( The resolution of 14) is higher than the resolution of the stereoscopic image which is the finally output image.
- FIG. 7 is a diagram illustrating a relationship between left and right image sensors 12 and 14 using left and right image sensors 12 and 14 having a higher resolution than a resolution of a finally output image. The figure for explaining the principle of preventing the loss of the output image due to misalignment.
- the resolution of the required output image is 1280 ⁇ 720
- the resolutions of the two image sensors 12 and 14 are each 1600 ⁇ 1200.
- the image sensor having a higher resolution than the resolution of the output image required to eliminate the image loss caused by the alignment error of the left and right cameras, and adopts the data of the left and right image sensors 12, 14 Set the data readout start point of the left image sensor 12, the data readout start point of the left image sensor 12, and the resolution of the output image so as to window the left / right common part as much as the required output image size. In this case, no image loss occurs because the required image size is always output.
- the initial readout start point (U1, V1) of the left image sensor 12, the initial readout start point (U2, V2) of the right image sensor 14, and the resolution (1,280 ⁇ 720) of the output image are reduced. It is preferable to set the input in advance in the manufacturing process of the three-dimensional camera.
- the resolution of the output image may be set by inputting an end point for reading out data of the image sensor. For example, when manufacturing a parallel-axis stereoscopic camera for the first time, the manufacturer looks at the stereoscopic camera on the left image and the right image on a 2D monitor, and then uses the external perspective control signal of the vergence control unit 20 to control the left image sensor 12.
- the initial readout start points U1 and V1 and the initial readout start points U2 and V2 of the right image sensor 14 may be input to the left and right image sensors 12 and 14.
- the camera unit 10 outputs RGB data having the same resolution as the output image that is required without image loss, that is, the entire RGB data required for generating the final output stereoscopic image.
- the initial readout starting point and the resolution of the output image of the left image sensor 12 and the right image sensor 14 is preferably configured to be changed by the user as needed.
- the vergence control unit 20 is a means for electronically controlling the binocular disparity of an object by changing a readout start point of at least one of the left image sensor 12 and the right image sensor 14 in the horizontal direction.
- the gaze angle controller 20 may include both eyes between a left luminance / color difference signal that is a left image signal output by the left image processor 301 and a right luminance / color difference signal that is a right image signal output by the right image processor 302. Calculate the parallax and change the start point of at least one of the left image sensor 12 or the right image sensor 14 so that the binocular disparity between the calculated left luminance / color difference signal and the right luminance / color difference signal disappears. have.
- FIG. 8 illustrates the loss of the output image during the vergence control process by using the left and right image sensors 12 and 14 having higher resolution than the resolution of the finally output image. It is a figure for demonstrating the principle to prevent.
- FIG. 8 the left side according to an internal or external angle control signal (a signal such that there is no binocular disparity of an object, a position where the binocular disparity of an object becomes zero, and may be automatically and manually changed according to an object).
- the viewing angle is controlled by changing the readout start point of the image sensor 12 and the right image sensor 14 in the horizontal direction.
- FIG. 8A illustrates a case where an object is located at a short distance
- FIG. 8B illustrates a perspective control when the object is located at a far distance. It can be seen that no image loss occurs in either case.
- 9 to 11 are diagrams for describing a detailed vergence control method according to a first embodiment of the present invention.
- the viewing angle controller 20 receives a left image signal of three objects from the left image processing unit 301, and the right image processing unit ( 302 receives the right image signal for three objects.
- the viewing angle controller 20 calculates the binocular disparity of the intermediate objects b1 and b2, that is, the separation distance k between the b1 and b2 and moves the image of the right camera to the left so that there is no binocular disparity between the intermediate objects b1 and b2. .
- the gaze angle controller 20 inputs data readout points to the right image sensor 14 to the left to move the right image to the left.
- the point B 'with binocular disparity equal to 0 is represented on the stereoscopic monitor, A' before the point B 'is shown before the stereoscopic monitor, and C' behind the B 'point. Is behind the stereo monitor, creating a natural stereoscopic effect.
- This automatic viewing control function is automatically performed whenever the object is changed in the viewing control unit 20 so that a natural 3D image can be obtained at all times, and the lead-out points of the left and right image sensors 12 and 14 are adjusted. Adjusting together can maximize the gaze control range.
- the image processor 30 includes a left image processor 301 and a right image processor 302, and the left image processor 301 is output from the left image sensor 12 under the control of the vergence controller 20.
- Image processing the RGB data to output the left luminance / color difference signal the right image processing unit 302 is image processing the right RGB data output from the right image sensor 14 under the control of the vergence control unit 20 to the right luminance Outputs the color difference signal.
- the stereoscopic image synthesizer 40 generates and outputs a stereoscopic image by synthesizing the left luminance / color difference signal and the right luminance / color difference signal.
- the first embodiment of the present invention may further include a stereo monitor for outputting a stereoscopic image output by the stereoscopic image synthesizer 40 and a storage unit for storing the stereoscopic image.
- the left image sensor 12 and the right image sensor 14 is installed so as to be spaced apart from each other on the printed circuit board, the angle of view on the printed circuit board between the left image sensor 12 and the right image sensor 14
- At least one of the controller 20, the image processor 30, and the stereoscopic image synthesizer 40 may be installed.
- the left image sensor 12 and the right image sensor 14 are installed so as to be spaced apart from each other on the wafer, and the vergence controller 20 on the wafer between the left image sensor 12 and the right image sensor 14.
- at least one of the image processor 30 and the stereoscopic image synthesizer 40 may be installed. According to this configuration, it is possible to reduce the size of the three-dimensional camera, there is an effect that a parallel-axis three-dimensional camera that can be embedded in a device such as a mobile terminal.
- a parallel axis stereoscopic camera having an electronic perspective control function and an electronic camera alignment function, which can prevent image loss due to mechanical alignment errors of the left and right cameras. It is effective.
- the signal processing process for the control of the viewing angle is simplified to provide a parallel axis stereoscopic camera equipped with an electronic viewing control function and an electronic camera alignment function to minimize image distortion and time delay in the process of generating a stereoscopic image. It is effective.
- a three-dimensional camera of the parallel axis type having an electronic perspective control function and an electronic camera alignment function that can reduce the number of components, such as external memory required in the perspective control process to reduce the manufacturing cost.
- the size of the three-dimensional camera can be reduced, can be embedded in a device such as a mobile terminal, there is an effect that a parallel axis stereoscopic camera having an electronic viewing angle control function and an electronic camera alignment function is provided.
- FIG. 12 is a view showing a parallel axis stereoscopic camera according to a second embodiment of the present invention.
- a parallel axis stereoscopic camera includes a left image sensor 12 and a right image sensor 14 having a higher resolution than an output image, and have the same resolution as the output image.
- the stereoscopic RGB data is synthesized by synthesizing the left RGB data output from the left image sensor 12 and the right RGB data output from the right image sensor 14 under the control of the viewing angle control unit 20 and the viewing angle control unit 20.
- the function of the viewing angle controller 20 included in the second embodiment is the same as the function of the viewing angle controller 20 included in the first embodiment.
- the second embodiment has the following features.
- the stereoscopic RGB data synthesizing unit 42 receives the outputs of the two image sensors 12 and 14 (left RGB data and right RGB data, respectively, 1280 ⁇ 720) and receives one stereoscopic RGB data (2560 ⁇ 720, Full). Frame Side by Side).
- This stereoscopic RGB data is subjected to video signal processing by one image processing unit 32. According to this, the left and right images can be expressed more naturally.
- FIG. 13 is a diagram illustrating a parallel axis stereoscopic camera according to a third embodiment of the present invention.
- a parallel axis stereoscopic camera includes a left image sensor 12 and a right image sensor 14 having a higher resolution than an output image, and have the same resolution as the output image.
- the stereoscopic image processor 33 and the stereoscopic image processor 33 include a stereoscopic image synthesizing unit 43 for synthesizing a stereoscopic image by synthesizing the left luminance / color difference signal and the right luminance / color difference signal.
- One difference between the second and third embodiments lies in the order of image signal processing and stereoscopic image synthesis.
- the stereoscopic image processor 33 generates a left luminance / color difference signal by image-processing the left RGB data output from the left image sensor 12 under the control of the vergence controller 20, and generates a right image sensor ( 14) the right RGB data output from the image is processed to generate a right luminance / color difference signal, and the stereoscopic image synthesis unit 43 corrects such that the luminance and color difference between the left luminance / color difference signal and the right luminance / color difference signal disappear.
- the stereoscopic image synthesis unit 43 corrects such that the luminance and color difference between the left luminance / color difference signal and the right luminance / color difference signal disappear.
- FIG. 14 is a view showing a parallel axis stereoscopic camera according to a fourth embodiment of the present invention.
- a parallel axis stereoscopic camera includes a left image sensor 12 and a right image sensor 14 having a higher resolution than an output image, and have the same resolution as the output image.
- the camera unit 10 for outputting the left luminance / color difference signal and the right luminance / color difference signal having a change in the horizontal readout start point of at least one of the left image sensor 12 and the right image sensor 14 is changed.
- a stereoscopic control unit 20 for electronically controlling the binocular disparity, and a stereoscopic image synthesizing unit 44 for synthesizing a stereoscopic image by synthesizing a left luminance / color difference signal and a right luminance / color difference signal.
- the fourth embodiment has a feature that blocks for performing image signal processing are included in the left and right image sensors 12 and 14.
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Claims (9)
- 평행축 입체카메라에 있어서,출력영상보다 높은 해상도를 갖는 좌측 이미지센서 및 우측 이미지센서를 포함하여 구성되고 상기 출력영상과 같은 해상도를 갖는 RGB 데이터를 출력하는 카메라부;상기 좌측 이미지센서와 상기 우측 이미지센서 중 적어도 하나의 가로방향의 리드아웃(Read out) 시작점을 변경하여 대상물의 양안시차가 없어지도록 전자식으로 제어하는 주시각 제어부;상기 주시각 제어부의 제어에 따라 상기 좌측 이미지센서로부터 출력되는 좌측 RGB 데이터를 영상처리하여 좌측 휘도/색차신호를 출력하는 좌측 영상처리부 및 상기 우측 이미지센서로부터 출력되는 우측 RGB 데이터를 영상처리하여 우측 휘도/색차신호를 출력하는 우측 영상처리부로 이루어진 영상처리부; 및상기 좌측 휘도/색차신호와 상기 우측 휘도/색차신호를 합성하여 입체영상을 합성하는 입체영상 합성부를 포함하는, 평행축 입체카메라.
- 평행축 입체카메라에 있어서,출력영상보다 높은 해상도를 갖는 좌측 이미지센서 및 우측 이미지센서를 포함하여 구성되고 상기 출력영상과 같은 해상도를 갖는 RGB 데이터를 출력하는 카메라부;상기 좌측 이미지센서와 상기 우측 이미지센서 중 적어도 하나의 가로방향의 리드아웃 시작점을 변경하여 대상물의 양안시차가 없어지도록 전자식으로 제어하는주시각 제어부;상기 주시각 제어부의 제어에 따라 상기 좌측 이미지센서로부터 출력되는 좌측 RGB 데이터와 상기 우측 이미지센서로부터 출력되는 우측 RGB 데이터를 합성하여 입체 RGB 데이터를 합성하는 입체 RGB 데이터 합성부; 및상기 입체 RGB 데이터를 영상처리하여 좌측 휘도/색차신호와 우측 휘도/색차신호로 이루어진 입체영상을 출력하는 영상처리부를 포함하는, 평행축 입체카메라.
- 평행축 입체카메라에 있어서,출력영상보다 높은 해상도를 갖는 좌측 이미지센서 및 우측 이미지센서를 포함하여 구성되고 상기 출력영상과 같은 해상도를 갖는 RGB 데이터를 출력하는 카메라부;상기 좌측 이미지센서와 상기 우측 이미지센서 중 적어도 하나의 가로방향의 리드아웃 시작점을 변경하여 대상물의 양안시차가 없어지도록 전자식으로 제어하는주시각 제어부;상기 주시각 제어부의 제어에 따라 상기 좌측 이미지센서로부터 출력되는 좌측 RGB 데이터를 영상처리하여 좌측 휘도/색차신호를 생성하고 상기 우측 이미지센서로부터 출력되는 우측 RGB 데이터를 영상처리하여 우측 휘도/색차신호를 생성하고, 상기 좌측 휘도/색차신호와 상기 우측 휘도/색차신호 간의 휘도와 색상 차이가 없어지도록 보정하여 출력하는 입체 영상처리부; 및상기 입체 영상처리부로부터 입력받은 좌측 휘도/색차신호와 우측 휘도/색차신호를 합성하여 입체영상을 합성하는 입체영상 합성부를 포함하는, 평행축 입체카메라.
- 제1 항 내지 제3 항 중 어느 한 항에 있어서,상기 좌측 이미지센서와 상기 우측 이미지센서의 초기 리드아웃 시작점과 출력영상의 해상도는 상기 출력영상의 영상손실이 없도록 기 설정되어 있는 것을 특징으로 하는, 평행축 입체카메라.
- 제4 항 중 어느 한 항에 있어서,상기 좌측 이미지센서와 상기 우측 이미지센서의 초기 리드아웃 시작점과 출력영상의 해상도는 변경이 가능한 것을 특징으로 하는, 평행축 입체카메라.
- 제1 항 내지 제3 항 중 어느 한 항에 있어서,상기 주시각 제어부는상기 좌측 휘도/색차신호와 상기 우측 휘도/색차신호 간의 양안시차를 계산하고,상기 계산된 좌측 휘도/색차신호와 상기 우측 휘도/색차신호 간의 양안시차가 없어지도록 상기 좌측 이미지센서 또는 상기 우측 이미지센서 중 적어도 하나의 리드아웃 시작점을 변경하는 것을 특징으로 하는, 평행축 입체카메라.
- 제6 항에 있어서,상기 주시각 제어부는상기 대상물 중 중간에 위치하는 중간 대상물을 기준으로 상기 양안시차를 계산하는 것을 특징으로 하는, 평행축 입체카메라.
- 제1 항 내지 제3 항 중 어느 한 항에 있어서,상기 좌측 이미지센서와 상기 우측 이미지센서는 인쇄회로기판 상에 상호 이격되어 설치되어 있고 상기 좌측 이미지센서와 상기 우측 이미지센서 사이의 인쇄회로기판 상에는 상기 주시각 제어부와 상기 영상처리부와 상기 입체영상 합성부와 상기 입체 RGB 데이터 합성부와 상기 입체 영상처리부 중 적어도 하나가 설치되어 있는 것을 특징으로 하는, 평행축 입체카메라.
- 제1 항 내지 제3 항 중 어느 한 항에 있어서,상기 좌측 이미지센서와 상기 우측 이미지센서는 웨이퍼 상에 상호 이격되어 설치되어 있고 상기 좌측 이미지센서와 상기 우측 이미지센서 사이의 웨이퍼 상에는 상기 주시각 제어부와 상기 영상처리부와 상기 입체영상 합성부와 상기 입체 RGB 데이터 합성부와 상기 입체 영상처리부 중 적어도 하나가 설치되어 있는 것을 특징으로 하는, 평행축 입체카메라.
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US13/641,275 US20130093855A1 (en) | 2010-04-15 | 2010-07-27 | Parallel axis stereoscopic camera |
CN2010800661837A CN102939563A (zh) | 2010-04-15 | 2010-07-27 | 平行轴立体相机 |
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KR1020100034679A KR100971730B1 (ko) | 2010-04-15 | 2010-04-15 | 평행축 입체카메라 |
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US11240479B2 (en) | 2017-08-30 | 2022-02-01 | Innovations Mindtrick Inc. | Viewer-adjusted stereoscopic image display |
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US20140192163A1 (en) * | 2011-10-11 | 2014-07-10 | Kenji Shimizu | Image pickup apparatus and integrated circuit therefor, image pickup method, image pickup program, and image pickup system |
US9743069B2 (en) * | 2012-08-30 | 2017-08-22 | Lg Innotek Co., Ltd. | Camera module and apparatus for calibrating position thereof |
WO2015081174A1 (en) * | 2013-11-26 | 2015-06-04 | Conmed Corporation | Stereoscopic camera system using monoscopic control unit |
CN107211118B (zh) * | 2014-12-31 | 2020-02-07 | 诺基亚技术有限公司 | 立体成像 |
WO2018183206A1 (en) | 2017-03-26 | 2018-10-04 | Apple, Inc. | Enhancing spatial resolution in a stereo camera imaging system |
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US20130093855A1 (en) | 2013-04-18 |
CN102939563A (zh) | 2013-02-20 |
KR100971730B1 (ko) | 2010-07-21 |
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