WO2015160052A1 - 광각 렌즈 이미지 보정 방법 및 그 장치 - Google Patents
광각 렌즈 이미지 보정 방법 및 그 장치 Download PDFInfo
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- WO2015160052A1 WO2015160052A1 PCT/KR2014/009658 KR2014009658W WO2015160052A1 WO 2015160052 A1 WO2015160052 A1 WO 2015160052A1 KR 2014009658 W KR2014009658 W KR 2014009658W WO 2015160052 A1 WO2015160052 A1 WO 2015160052A1
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012937 correction Methods 0.000 claims description 78
- 238000003384 imaging method Methods 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 5
- 230000001502 supplementing effect Effects 0.000 claims description 2
- 230000003247 decreasing effect Effects 0.000 claims 1
- 238000003702 image correction Methods 0.000 abstract description 9
- 230000000875 corresponding effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
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- G06T3/12—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G06T5/80—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/60—Noise processing, e.g. detecting, correcting, reducing or removing noise
- H04N25/61—Noise processing, e.g. detecting, correcting, reducing or removing noise the noise originating only from the lens unit, e.g. flare, shading, vignetting or "cos4"
Definitions
- the present invention relates to a method and apparatus for correcting distortion of an image caused by a wide-angle lens, and an image correction method and apparatus capable of quickly correcting distortion of an image with a low resource due to low computation amount.
- a fisheye lens generally refers to a lens having a wide field of view of about 180 degrees.
- Cameras equipped with wide-angle lenses, such as fisheye lenses have a shorter focal length and a wider viewing angle than standard lenses, and the radial distortion of the acquired image is very severe.
- Images acquired from wide-angle cameras have non-linearities, and in order to correct distortions caused by the wide angle cameras, a method of inversely analyzing optical principles is generally used.
- the distortion factors such as the optical center, focal length, and refractive index and the distortion correction equation are difficult to appear accurately, so the linearization is not perfect.
- it is difficult to implement an image in real time because a lot of resources are consumed in the distortion correction according to the distortion correction equation.
- An object of the present invention is to provide a distortion correction method for correcting a distorted image with a small amount of resources and easily applying it to various types of wide-angle lenses without requiring a distortion factor.
- Distortion correction method the distortion correction method of the imaging area by a wide-angle lens, comprising the steps of: setting a horizontal reference line and a vertical reference line passing through the center of the imaging area; Setting a part of an elliptic curve in which a part of the horizontal reference line is shortened and a part of the vertical reference line is shortened based on the center; Converting a y value of a pixel belonging to a part of the elliptic curve into a y value of the short axis; And storing the correspondence relationship between the coordinate values of the pixels belonging to a part of the elliptic curve and the converted coordinate values as an entry of the distortion correction table.
- the difference between the short axis length of the first ellipse and the short axis length of the second ellipse may be a multiple of the first set value.
- the difference between the long axis length of the first ellipse and the long axis length of the second ellipse may be a multiple of a second set value, and the second set value may be smaller than the first set value.
- first ellipse and the second ellipse may have zero crossing points.
- a part of the elliptic curve may be any one of quadrants of the Cartesian coordinate system.
- correction area of the distortion correction table may belong to the display area.
- the method may further include supplementing an additional entry symmetrical with respect to at least one of the horizontal and vertical reference lines based on the entry of the distortion correction table.
- the method may further include setting new horizontal and vertical reference lines in response to at least one of a user's operation, a user's motion, and a display device's direction; And generating a second distortion correction table in which a coordinate value of an entry of the distortion correction table is rotated in correspondence to an angle between the existing horizontal reference line and the new horizontal reference line.
- the second set value may vary within a preset range by at least one of the wide-angle lens and the distance between the wide-angle lens and the subject.
- the image correcting apparatus divides an image pickup region in which an image is formed from a sample image acquired through a wide-angle lens and a non-image region in which the image is not formed, and sets a horizontal reference line and a vertical reference line passing through the center of the imaging region.
- a reference setting unit Create a table for setting a part of the elliptic curve in which a part of the horizontal reference line is a short axis and a part of the vertical reference line as a short axis based on the center, and converts the y value of a pixel belonging to the part of the elliptic curve to the y value of the short axis. part;
- a storage unit for storing a correspondence between coordinate values of pixels belonging to a part of the elliptic curve and the converted coordinate values as an entry of a distortion correction table.
- Security control apparatus a plurality of cameras each having a wide-angle lens;
- a main server configured to receive wide-angle images from the plurality of cameras so that at least one of the plurality of wide-angle images is displayed on a display device;
- a subordinate server which, upon receiving a correction command from the main server, corrects at least one wide-angle image of the plurality of wide-angle images and transmits the corrected image to the main server.
- One of the servers may include: a reference setting unit for dividing an image pickup area in which images of the image to be corrected from the plurality of wide-angle images into a non-image area, and setting a horizontal reference line and a vertical reference line passing through the center of the image pickup area; Create a table for setting a part of the elliptic curve in which a part of the horizontal reference line is a short axis and a part of the vertical reference line as a short axis based on the center, and converts the y value of a pixel belonging to the part of the elliptic curve to the y value of the short axis.
- a storage unit for storing a correspondence between coordinate values of pixels belonging to the elliptic curve and the converted coordinate values as an entry of a distortion correction table;
- an image corrector configured to correct the image to be corrected using the distortion correction table to generate a corrected image.
- the main server may cause the display device to display at least one of the plurality of wide-angle images and the plurality of corrected images in which each of the plurality of wide-angle images is corrected, and the plurality of wide-angles according to a first command of a user.
- the correction image correcting the first wide-angle image among the images and the wide-angle images except the first wide-angle image among the plurality of wide-angle images may be displayed, and the plurality of correction images may be displayed according to a second command of the user. .
- the accessory server may be plural, and the main server may check the load of the main server and the load of each of the plurality of accessory servers, so that the plurality of original images may be corrected in the order of a small load.
- the image correction method of the wide-angle lens according to the present invention does not require complicated calculations and the amount of calculation is small, so that it is possible to quickly correct the devices while consuming less resources, thereby displaying an image in real time.
- it can be easily applied to the existing wide-angle lens, it can be applied to the existing wide-angle lens.
- 1 is a sample image by a wide-angle lens
- FIG. 2 is a diagram illustrating a correction standard by a reference setting unit according to an embodiment of the present invention
- 3 to 7 are diagrams illustrating the principle of table generation by a table generator according to an embodiment of the present invention.
- FIG. 9 is a block diagram illustrating an image distortion correction system according to an embodiment of the present invention.
- FIG. 10 is a diagram showing the basis of table generation for an imaging area according to another embodiment of the present invention.
- FIG. 11 is a flowchart illustrating an image correction method according to an embodiment of the present invention.
- FIG. 13 is a block diagram showing a security control system according to an embodiment of the present invention.
- FIG. 14 is a view showing an embodiment of a screen of the security control system according to the present invention.
- 15 is a flowchart illustrating an image processing method in a security control system according to an embodiment of the present invention.
- first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
- the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
- a component When a component is referred to as being “connected” or “connected” to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be “directly connected” or “directly connected” to another component, it should be understood that there is no other component in between.
- first component and the second component on the network are connected or connected, it means that data can be exchanged between the first component and the second component by wire or wirelessly.
- module and “unit” for the components used in the following description are merely given in consideration of ease of preparation of the present specification, and do not give particular meanings or roles by themselves. Therefore, the “module” and “unit” may be used interchangeably.
- Such components may be configured by combining two or more components into one component, or by dividing one or more components into two or more components as necessary when implemented in an actual application.
- the wide-angle lens image distortion correction method according to the present invention can be made in various devices.
- FIG. 1 is a sample image by a wide-angle lens
- Figure 2 is a view showing a correction reference by the reference setting unit according to an embodiment of the present invention
- Figures 3 to 7 is a table generating unit according to an embodiment of the present invention
- 8 is a diagram illustrating a principle of table generation according to the present invention
- FIG. 8 is a distortion corrected image according to the present invention
- FIG. 9 is a block diagram showing an image distortion correction system according to an embodiment of the present invention
- FIG. FIG. 12 is a diagram illustrating the basis of table generation for an image capturing area according to another embodiment of the present invention
- FIG. 12 is an image of an input screen for user motion processing.
- the image distortion correction system includes a wide-angle lens 1 for capturing an image, an image correction device 2 for correcting an image received from the wide-angle lens 1, and a correction of the image correction device 2. It may include a display device 5 for displaying an image.
- the image correcting apparatus 2 may include a reference setter 10, a table generator 20, an image corrector 30, and a storage 50.
- the storage unit 50 may store a program for processing and controlling the reference setting unit 10, the table generating unit 20, and the image correcting unit 30, and input or output data (eg, , An image of the wide-angle lens, a table generated by the table generator 20, a corrected image, etc.) may be temporarily or permanently stored.
- the storage unit 50 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), It may include a storage medium of at least one type of RAM and ROM. It is also possible to use remote devices such as web straw over the Internet.
- the reference setting unit 10 may be divided into an imaging area in which an image is formed and a non-imaging area in which the image is not formed among the sample images acquired through the wide-angle lens.
- the outer black portion of FIG. 1 is a non-photographing area, which corresponds to the inner circumferential surface of the housing of the camera module, which is typically configured in a barrel shape.
- the imaging area acquired by the camera module has a circular shape, but is not limited thereto.
- the imaging area may have a long elliptical shape in which the horizontal axis is longer than the vertical axis, or may be a shape in which a part of a circular or elliptical shape is cut off.
- sample images can be used to obtain the outermost outline that separates the appropriate imaged and non-imaged regions, or to obtain the appropriate outlines using points that are vertically symmetrical or point-symmetrical.
- the outermost line 100 of the imaging area obtained by the reference setting unit 10 may be circular.
- the reference setting unit 10 may determine the center O of the imaging area.
- the reference setting unit 10 sets the center of the sample image as the center O of the imaging area, calculates the center O by calculating the coordinates of the outermost line 100, or sets the center selected by the user as the center ( O) can be set.
- the case where the imaging area is an ellipse is shown in Fig. 10A.
- the reference setting unit 10 may set horizontal and vertical reference lines that are perpendicular to each other passing through the center O of the imaging area.
- the horizontal and vertical reference lines may correspond to any one of a preset value, a user manipulation, a user's motion, and a direction of the display apparatus.
- the reference setter 10 may set horizontal and vertical reference lines of the image itself acquired from an image sensor that detects light incident through a wide-angle lens as horizontal and vertical reference lines, or set horizontal and vertical reference lines in a predetermined direction. Can be.
- Horizontal and vertical reference lines can be set to one or more than one for distortion correction.
- the reference setting unit 10 may set horizontal and vertical reference lines in response to an input value received through a user's manipulation, for example, a mouse, a keyboard, or a touch panel.
- the reference setting unit 10 may set horizontal and vertical reference lines in response to the motion of the user, for example, the movement of the user's arm analyzing the image received through the camera, or the movement of the pupil shown in FIG. 12. .
- the reference setting unit 10 may set horizontal and vertical reference lines so that a screen corresponding to a direction of a user's pupil is displayed on a part of the large screen.
- the image correcting apparatus 2 may further include an image receiver (camera) (not shown) for capturing a user's movement or eyes.
- the reference setting unit 10 may set horizontal and vertical reference lines in correspondence with the direction of the display device 5. To this end, the display device 5 may transmit the direction indicated by the direction in which the screen is displayed to the distortion correction device 3 using the built-in compass.
- the reference setting unit 10 may obtain the coordinates that are the reference for the long axis and the short axis.
- the reference long axis may be the diameter of the horizontal reference line by the outermost line 100, that is, the outermost line 100 of the horizontal axis
- the reference short axis may be the vertical reference line by the outermost line 100, that is, the outermost line 100 of the vertical axis.
- the reference setting unit 10 may obtain the length from the coordinates of the long axis a and the short axis b.
- the center O is the origin of the rectangular coordinate system.
- the table generator 20 may set a plurality of curves inside the outermost line 100. Any two of the outermost line 100 and the inner curves 110, 120,..., 190 may be missing or two intersections.
- the plurality of curves 100, 110, 120,..., 190 may have a short axis equal to or less than the long axis length of the outermost line 100 and shorter than the short axis length of the outermost line 100.
- Each long axis of the inner curves 110, 120,..., 190 is preferably smaller than the long axis of the outermost line 100.
- the circle (outermost line 100) is viewed as an ellipse with the same length of the major axis and the short axis, and the straight line 190 is viewed as an ellipse with the length of the axis short.
- the difference between the short axis lengths of the first and second curves 110 and 120 adjacent to each other is preferably a predetermined constant.
- the length of the short axis of the highest internal curve 190 is preferably zero.
- the length of the major axis of any of the internal curves 110, 120,..., 190 is preferably 0.95 or more and less than 1 of the major axis length of the outermost line 100. This ratio may vary depending on the characteristics or type of the wide-angle lens, the distance to the subject, and the like.
- the difference between the major axis lengths of the first and second curves 110 and 120 adjacent to each other may be a predetermined constant.
- the difference in the major axis lengths of the inner curves adjacent to each other is preferably smaller than the difference in the minor axis lengths.
- the table generator 20 may generate a lookup table (distortion correction table) for coordinates of one quadrant. This is because resource saving and load can be reduced.
- the table generator 20 may obtain the long axis coordinates a0 to a9 and the short axis coordinates b0 to b8 and O of the internal curve.
- the table generation unit 20 vertically shifts coordinates of pixels belonging to the same curve to a horizontal line passing through a short axis of the corresponding curve, thereby setting a distortion correction table for setting the coordinates before and after the movement as one entry. Can be generated.
- the table generation unit 20 may know that the coordinates of one end of the long axis of the fourth curve are (a4, 0) and the coordinates of the one end of the short axis are (0, b4).
- the coordinates of the point P4-0 of the fourth curve and the coordinates of the point Q4-0 in which the point P4-0 is vertically shifted are set as one entry, and the coordinates of the vertically shifted point Q4-j of the point P4-j are set.
- the table generator 20 may set the coordinates of the point P4-0 on the horizontal reference line as (a4, 0) and the coordinates of Q4-0 as (a4, b4).
- the table generator 20 may calculate the arbitrary point P4-j in a rectangular coordinate system using the polar coordinate system of the elliptic equation.
- the coordinate of point P4-j by this is (a4 * cos (theta) j, b4 * sin (theta) j).
- the coordinate of the vertically shifted point Q4-j of the point P4-j is (a4 * cos ⁇ j, b4).
- the table generator 20 may generate a lookup table by obtaining the coordinates of the imaging area and the coordinates of the correction plane, respectively, by the following coding.
- n is the number of internal curves
- m is the number of coordinates to obtain in one quadrant of each internal curve
- the table generation unit 20 may generate each entry P [i] [j]-> Q [i] [j] of the distortion correction table.
- the distortion correction table may be configured such that when the y value of each pixel belonging to the same plurality of curves (100, 110, 120, ..., 190) is changed to the maximum y value of the corresponding group, the image acquired through the wide-angle lens is changed. It is based on what changes in the eyes of the user. Since the wide-angle lens is more distorted toward the outside than the center, it seems that if the image near the outer area is moved away from the center of the imaging area, the distorted image that is difficult to recognize is corrected to the easy-to-understand image.
- the long axis length of the inner curves 110, 120, ..., 190 is better corrected for distortion when the length of the long axis is slightly smaller than the length of the outermost axis.
- Fig. 6A is a correction area after setting a horizontal line as a horizontal reference line
- Fig. 6B is a correction area after setting a vertical line as a horizontal reference line.
- the pixel coordinates of each line of FIG. 6A are associated with the plurality of curves 100, 110, 120,..., 190 of FIG. 3.
- the table generator 20 horizontally symmetrics each entry of the distortion correction table obtained through FIGS. 4 and 5 without performing the above-mentioned calculation to generate a correction region as shown in FIGS. 6A and 6B.
- Vertical symmetry, and 90 degree rotational symmetry. 10 (b) and 10 (c) show the case where the imaging area is an ellipse.
- the table generator 20 may modify the distortion correction table such that only a partial region is displayed without displaying the entire image of the correction region.
- the table generator 20 may set the display areas 210 and 230 to be the display areas 210 and 230 around the vertical reference line. The further away from the center, the worse the distortion. In addition, since the image through the wide-angle lens covers a very wide range, it is preferable to display on multiple screens.
- the display areas 220 and 240 of FIG. 7B are also set for display near the center and for various ranges of display. This is because the degree of distortion of the image far from the vertical reference line of the first display area 210 is high.
- the table generator 20 may set the display areas 210, 220, 230, and 240 by deleting an entry of the distortion correction table whose coordinates of the correction plane do not belong to the display area of FIG. 7.
- the image corrector 30 may generate a corrected image by correcting the image of FIG. 1 acquired through the wide-angle lens using the distortion correction table.
- the distortion correction table has coordinates of each pixel of the original image (wide angle image) and corresponding coordinates to be moved to the correction image corresponding to each pixel coordinate.
- the pixel coordinates of the original image may consist of the coordinates of the imaging area, in particular the area to be displayed.
- the image corrector 30 may generate the corrected image by recording a value corresponding to the coordinate of the pixel of the original image of the distortion correction table of the original image in the coordinate corresponding to the corresponding coordinate of the distortion correction table of the new image. .
- the image corrector 30 may use a corresponding region of the corrected image of the previous frame without using a distortion correction table in an area that does not differ from the previous frame image of the original image. For example, when the original image has a point (P d-1 ) where the pixel is different from the image of the previous frame, the image correction unit 30 uses the distortion correction table at that point (P d-1 ). Obtain the coordinates (Q d-1 ) and pixel values (V d ) of the corrected image corresponding to, and replace the corresponding coordinates (Q d-1 ) with differences among the corrected images of the previous frame with the corresponding pixel values (V d ). This can be generated as a corrected image of the current frame.
- the image corrector 30 may display the corrected image on the display device 5 as shown in FIG. 8.
- the second and fourth display areas 220 and 240 may change the direction so that the vertical reference line is vertical as shown in FIG. 8 so that the user may intuitively see the image.
- the reference setting unit 10 may set the center O, the outermost line, the horizontal reference line, and the vertical reference line by dividing the image pickup area and the non-image area of the image of the wide-angle lens (S310).
- the table generator 20 may set a plurality of internal curves inside the outermost line (S320).
- the inner curve is preferably elliptical.
- the table generating unit 20 calculates coordinates obtained by moving coordinates located in a plurality of curves of a quadrant to the short axis of each curve, generates an entry in which coordinates located in the plurality of curves and the coordinates moved are correlated with each other.
- a distortion correction table composed of entries may be generated (S320).
- the table generating unit 20 adds an entry in which the coordinates of each entry of the distortion correction table are symmetrical to a vertical or horizontal reference line and a rotated entry, so that the corrected screen to be displayed according to the movement of the horizontal reference line according to all areas and user operations is added. It may be prepared to generate (S340).
- the image corrector 30 may correct the image acquired from the wide-angle lens by using the distortion correction table generated by the table generator 20 and stored in the storage unit 50 (S350).
- FIG. 13 is a block diagram showing a security control system according to an embodiment of the present invention
- FIG. 14 is a view showing an embodiment of a screen of the security control system according to the present invention
- FIG. 15 is a view of the present invention.
- the security control system may include a plurality of cameras C1 to C4, a main server 400, and a plurality of accessory servers 410, 412, and 414.
- Each of the plurality of cameras C1 to C4 is a camera equipped with the wide-angle lens 1 of FIG. 1, and converts light incident through the wide-angle lens 1 into a digital image through an image sensor such as an internal CCD or CMOS.
- To the main server 400 In the present embodiment, communication between the plurality of cameras C1 to C4 and the main server 400 or between the main server 400 and the plurality of accessory servers 410, 412, and 414 may communicate by wire or wirelessly. have.
- the plurality of cameras C1 to C4 may be appropriately disposed where security, surveillance or control is required. Although four cameras are shown in this drawing, the number of cameras is not limited.
- the main server 400 may display the original image or display the corrected image on the display device connected to the main server 400 by distorting the image by the wide-angle lens, that is, the image before correction (hereinafter, referred to as 'original image') data. Can be.
- the main server 400 may transmit the original image or the corrected image data to at least one of the plurality of accessory servers 410, 412, and 414.
- the first accessory server 410 may display at least one of an original image and a corrected image on a display device connected to the first accessory server 410.
- the correction of the original image may be performed in at least one of the main server 400 and the plurality of subordinate servers 410, 412, and 414.
- the first original image (image by the camera C1) among the plurality of original images is the second to fourth original images (images by the cameras C2, C3, and C4) in the main server 400.
- the correction may be made at the attached servers 410, 412, 414.
- the present invention is not limited thereto, and a plurality of original images may be corrected in one server, or one server may correct two or more original images.
- the main server 400 and the plurality of subordinate servers 410, 412, and 414 may be installed where security or surveillance personnel are arranged. Only one server may be needed for centralized management, but large ones can be controlled from multiple locations. In this case, the central server may be arranged in the central control room, and the attached server may be arranged elsewhere (for example, the entrance to the building).
- the plurality of accessory servers 410, 412, 414 are not limited to being arranged in a kind of simple control room, and may exist as spare resources.
- the attached server may perform local area communication with the main server 400 or remotely, and may be provided to the virtual machine (VM) as a clouding service.
- VM virtual machine
- the main server 400 or the first subordinate server 410 divides and displays the first to fourth original images A, B, C, and D on a connected display device. You can do that.
- the main server 400 may correct the first image A by a user's command so that the corrected images A1 to A4 are displayed on a part of the divided region of the display apparatus (see FIG. 14B). ).
- the main server 400 may display the corrected images A1 to A4 together with other second to fourth original images B to D or to be displayed on the full screen.
- the main server 400 automatically corrects the first original image A or transmits the original image to the first accessory server 410, receives the corrected image, and displays the received corrected images A1 to A4. You can do that.
- the first accessory server 410 When displaying the first corrected images A1 to A4 of the first accessory server 410, the first accessory server 410 may be operated to correspond to that of the main server 400.
- the main server 400 in response to a user's command, the main server 400 may include first to fourth corrected images A1 to A4, in which the entire first to fourth original images A to D are corrected. B1 to B4, C1 to C4, and D1 to D4) may be displayed on the display device.
- the correction operation may be shared by the main server 400 and the plurality of subordinate servers 410, 412, and 414, or may be processed according to the load of each server.
- the main server 400 may receive first to fourth original images A to D from the plurality of cameras C1 to C4 and store them in a storage unit (not shown) (S610).
- the storage unit may be disposed in the main server 400 or in a remote web server or cloud server.
- the main server 400 preferably stores only the original image.
- the main server 400 may determine the weight of the load of the main server 400 and the plurality of subordinate servers 410, 412, and 414 to determine which server the image correction process is to be performed (S620). Through this, the main server 400 is capable of controlling the load to prevent the server from transferring the load from the server under heavy load to another server or idle. For example, when there is only one image job to be corrected, the main server 400 may select an idle server or a server having the least load as the server to be corrected. If there are a large number of image jobs to be corrected, the main server 400 may cause the first calibration job to be loaded on the server with the lowest idle load or the least load, and again check the load so that the second calibration job is loaded on the lowest server. have. When there are a large number of image jobs to be corrected, the main server 400 may allow the correction jobs to be distributed as much as the processing capacity in the order of low load.
- the main server 400 may issue a correction instruction to the server on which the correction process is to be performed (S630). Thereafter, the main server 400 may receive the corrected image data (S640) and display it on the display device (S650). When the correction is performed in the main server 400, the correction instruction step S630 and the correction image data reception step S640 may be omitted.
- the present invention can also be embodied as computer readable code on a computer readable recording medium.
- the computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, optical data storage devices, and the like, which are also implemented in the form of carrier waves (for example, transmission over the Internet). Include.
- the computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And functional programs, codes and code segments for implementing the present invention can be easily inferred by programmers in the art to which the present invention belongs.
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Description
Claims (12)
- 광각 렌즈에 의한 촬상 영역의 왜곡 보정 방법으로서,상기 촬상 영역의 중심을 지나는 수평 기준선 및 수직 기준선을 설정하는 단계;상기 중심을 기준으로 상기 수평 기준선의 일부를 장축으로 상기 수직 기준선의 일부를 단축으로 하는 타원 곡선 일부를 설정하는 단계;상기 타원 곡선 일부에 속하는 픽셀의 y 값을 상기 단축의 y 값으로 변환하는 단계; 및상기 타원 곡선 일부에 속하는 픽셀의 좌표값과 상기 변환된 좌표값의 대응 관계를 왜곡 보정 테이블의 엔트리로 저장하는 단계를 포함하는 왜곡 보정 방법.
- 제 1 항에 있어서,상기 타원 중 제1 타원의 단축 길이와 제2 타원의 단축 길이의 차는 제1 설정 값의 배수인 것인, 왜곡 보정 방법.
- 제 2 항에 있어서,상기 제1 타원의 장축 길이와 상기 제2 타원의 장축 길이의 차는 제2 설정 값의 배수이며, 상기 제2 설정 값은 상기 제1 설정 값 보다 작고,상기 제1 타원 및 상기 제2 타원은 교차점이 0 개인 것을 특징으로 하는, 왜곡 보정 방법.
- 제 1 항에 있어서,상기 타원 곡선의 일부는 직교 좌표계의 사분면 중 어느 하나이고,상기 왜곡 보정 테이블의 보정 영역은 디스플레이 영역에 속하는 것을 특징으로 하는, 왜곡 보정 방법.
- 제 4 항에 있어서,상기 왜곡 보정 테이블의 엔트리를 기초로 상기 수평 및 수직 기준선 중 적어도 하나의 기준선에 대해 대칭인 추가 엔트리를 보충하는 단계를 더 포함하는 왜곡 보정 방법.
- 제 1 항에 있어서,사용자 조작, 사용자의 모션, 및 디스플레이 기기의 방향 중 적어도 어느 하나에 대응하여, 새로운 수평 및 수직 기준선을 설정하는 단계; 및상기 기존의 수평 기준선과 상기 새로운 수평 기준선 사이의 각도에 대응하여 상기 왜곡 보정 테이블의 엔트리의 좌표값이 회전 이동된 제2 왜곡 보정 테이블을 생성하는 단계를 더 포함하는 왜곡 보정 방법.
- 제 3 항에 있어서,상기 제2 설정값은 상기 광각 렌즈 및 상기 광각 렌즈와 피사체의 거리 중 적어도 하나에 의해 기설정 범위 내에서 변동하는, 왜곡 보정 방법.
- 광각 렌즈를 통해 획득한 샘플 이미지 중 상이 맺히는 촬상 영역과 그러지 않은 비촬상 영역으로 구분하고, 상기 촬상 영역의 중심을 지나는 수평 기준선 및 수직 기준선을 설정하는 기준 설정부;상기 중심을 기준으로 상기 수평 기준선의 일부를 장축으로 상기 수직 기준선의 일부를 단축으로 하는 타원 곡선 일부를 설정하고, 상기 타원 곡선 일부에 속하는 픽셀의 y 값을 상기 단축의 y 값으로 변환하는 테이블 생성부; 및상기 타원 곡선 일부에 속하는 픽셀의 좌표값과 상기 변환된 좌표값의 대응 관계를 왜곡 보정 테이블의 엔트리로 저장하는 저장부를 포함하는 이미지 보정 장치.
- 제 8 항에 있어서,상기 타원 중 제1 타원의 단축 길이와 제2 타원의 단축 길이의 차는 제1 설정 값의 배수이고,상기 제1 타원의 장축 길이와 상기 제2 타원의 장축 길이의 차는 제2 설정 값의 배수이며, 상기 제2 설정 값은 상기 제1 설정 값 보다 작고,상기 제1 타원 및 상기 제2 타원은 교차점이 0 개이고,상기 타원 곡선의 일부는 직교 좌표계의 사분면 중 어느 하나이고,상기 왜곡 보정 테이블의 보정 영역은 디스플레이 영역에 속하는 것을 특징으로 하는, 이미지 보정 장치.
- 각기 광각 렌즈를 구비한 복수의 카메라;상기 복수의 카메라로부터 각각 광각 이미지를 수신하여 상기 복수의 광각 이미지 중 적어도 하나를 디스플레이 장치에 디스플레이되도록 하는 메인 서버; 및상기 메인 서버로부터 보정 명령을 수신하면, 상기 복수의 광각 이미지 중 적어도 하나의 광각 이미지를 보정하여 보정된 이미지를 상기 메인 서버로 전송하는 부속 서버를 포함하는 보안 관제 장치로서,상기 메인 서버 및 부속 서버 중 어느 한 서버는,상기 복수의 광각 이미지 중 보정할 이미지의 상이 맺히는 촬상 영역과 그러지 않은 비촬상 영역으로 구분하고, 상기 촬상 영역의 중심을 지나는 수평 기준선 및 수직 기준선을 설정하는 기준 설정부;상기 중심을 기준으로 상기 수평 기준선의 일부를 장축으로 상기 수직 기준선의 일부를 단축으로 하는 타원 곡선 일부를 설정하고, 상기 타원 곡선 일부에 속하는 픽셀의 y 값을 상기 단축의 y 값으로 변환하는 테이블 생성부;상기 타원 곡선 일부에 속하는 픽셀의 좌표값과 상기 변환된 좌표값의 대응 관계를 왜곡 보정 테이블의 엔트리로 저장하는 저장부; 및상기 왜곡 보정 테이블을 이용하여 상기 보정할 이미지를 보정하여 보정된 이미지를 생성하는 영상 보정부를 포함하는, 보안 관제 장치.
- 제 10 항에 있어서,상기 메인 서버는 상기 복수의 광각 이미지 및 상기 복수의 광각 이미지 각각이 보정된 복수의 보정 이미지 중 적어도 하나를 상기 디스플레이 장치에 디스플레되도록 할 수 있으며, 사용자의 제1 명령에 따라 상기 복수의 광각 이미지 중 제1 광각 이미지를 보정한 보정 이미지 및 상기 복수의 광각 이미지 중 상기 제1 광각 이미지를 제외한 광각 이미지들이 디스플레이 되도록 하고, 사용자의 제2 명령에 따라 상기 복수의 보정 이미지가 디스플레이 되도록 하는, 보안 관제 장치.
- 제 11 항에 있어서,상기 부속 서버는 복수이고,상기 메인 서버는 메인 서버의 부하량 및 상기 복수의 부속 서버 각각의 부하량을 체크하여, 부하량이 적은 순서대로 상기 복수의 원본 이미지의 보정 처리가 이루어지도록 하는, 보안 관제 장치.
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CN201480002041.2A CN105191278A (zh) | 2014-04-16 | 2014-10-15 | 广角镜头图像校正方法及其装置 |
EP14889357.1A EP3133804A4 (en) | 2014-04-16 | 2014-10-15 | Method for correcting image from wide-angle lens and device therefor |
US15/304,635 US20170041538A1 (en) | 2014-04-16 | 2014-10-15 | Method for correcting image from wide-angle lens and device therefor |
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KR20140045611A KR101493946B1 (ko) | 2014-04-16 | 2014-04-16 | 광각 렌즈 이미지 보정 방법 및 그 장치 |
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JP6568374B2 (ja) * | 2015-03-27 | 2019-08-28 | キヤノン株式会社 | 情報処理装置、情報処理方法、及びプログラム |
JP6552255B2 (ja) * | 2015-04-23 | 2019-07-31 | キヤノン株式会社 | 画像処理装置、画像処理システム、画像処理方法、及び、コンピュータプログラム |
CN106993133B (zh) * | 2015-06-30 | 2019-08-30 | Oppo广东移动通信有限公司 | 一种畸变校正方法及终端 |
KR102468729B1 (ko) | 2017-09-29 | 2022-11-21 | 삼성전자주식회사 | 전자 장치 및 전자 장치의 객체 센싱 방법 |
JP6895403B2 (ja) * | 2018-03-20 | 2021-06-30 | 株式会社東芝 | 画像処理装置、運転支援システム、及び画像処理方法 |
US10757324B2 (en) * | 2018-08-03 | 2020-08-25 | Semiconductor Components Industries, Llc | Transform processors for gradually switching between image transforms |
CN112312056A (zh) * | 2019-08-01 | 2021-02-02 | 普兰特龙尼斯公司 | 利用自适应镜头失真校正和图像变形减少的视频会议 |
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- 2014-10-15 US US15/304,635 patent/US20170041538A1/en not_active Abandoned
- 2014-10-15 EP EP14889357.1A patent/EP3133804A4/en not_active Withdrawn
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US20170041538A1 (en) | 2017-02-09 |
KR101493946B1 (ko) | 2015-02-17 |
EP3133804A1 (en) | 2017-02-22 |
EP3133804A4 (en) | 2017-04-12 |
CN105191278A (zh) | 2015-12-23 |
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