WO2016104830A1 - 키-프레임과 자이로 스코프를 이용한 롤링-셔터 보정 방법 및 이를 적용한 촬영장치 - Google Patents

키-프레임과 자이로 스코프를 이용한 롤링-셔터 보정 방법 및 이를 적용한 촬영장치 Download PDF

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WO2016104830A1
WO2016104830A1 PCT/KR2014/012831 KR2014012831W WO2016104830A1 WO 2016104830 A1 WO2016104830 A1 WO 2016104830A1 KR 2014012831 W KR2014012831 W KR 2014012831W WO 2016104830 A1 WO2016104830 A1 WO 2016104830A1
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Prior art keywords
frame
key
feature points
shutter
camera
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French (fr)
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황영배
배주한
최병호
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Korea Electronics Technology Institute
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Korea Electronics Technology Institute
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • 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
    • G03B9/00—Exposure-making shutters; Diaphragms
    • G03B9/08—Shutters
    • G03B9/28—Roller blind or flexible plate
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

Definitions

  • the present invention relates to a rolling shutter, more specifically
  • the present invention has been made to solve the above problems.
  • the purpose of the present invention is to provide a ring-shutter effect by accurately estimating the line delay which appears as a distortion caused by the rolling-shutter effect using the key_frame.
  • a ring-correcting method for correcting distortion caused by a shutter and a camera applying the same are provided.
  • Another object of the present invention is the gyro of the camera after the line delay estimate.
  • It provides a method of performing rolling-shutter correction by measuring the angular velocity only in the scope and a camera applying the same.
  • the method includes: extracting feature points of a key-frame; extracting feature points of an acquired frame while moving a camera; estimating a line delay in a frame based on the feature points of the key-frame and the feature points of the frame; And using the estimated line delay, correcting the distortion-all by the rolling-shutter effect of the frame.
  • the line delay estimating step converts key-frame features
  • the line delay may include the feature points of the frame and the feature points of the key-frame. It can be estimated based on distance.
  • the camera acquires a frame by rotating it on a turn-table, and the moving step may move the frame by rigidly rotating the feature points of the key-frame.
  • the key-frame may be a frame in which the camera has no movement and no moving object.
  • the method may further include acquiring information; correcting the distortion due to the rolling-shutter effect of the frame by using the motion information of the camera and the line delay.
  • the rolling-shutter correction method may further include correcting the movement information by referring to the key frame and the movement information obtained from the frame.
  • a photographing apparatus includes: a camera which acquires frames through shooting; and extracting features of a key-frame, extracting features of a frame acquired while moving the camera, And-an image processor for estimating the line delay in the frame based on the feature points of the frame and the feature points of the frame, and for correcting the distortion caused by the shutter effect using the estimated line delay.
  • rolling-shutter correction which is robust against illumination changes and large occlusion, is possible.
  • FIG. 1 is a process description of a ring-shutter correction method according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing feature matching and line delay estimation results.
  • 3 and 4 illustrate the results of the correction according to the ring-shutter correction method shown in FIG. 1, and
  • FIG. 5 is a block diagram of a photographing apparatus according to another embodiment of the present invention.
  • a ring-shutter correction method measures / corrects ring-shutter effects that may occur in a camera using a ring-shutter.
  • Distortion is observed because of the nature of the ring-shutter, which sequentially scans line by line. If you use a ring-shutter, you will have a different motion for each frame line because the time to start scanning each line of the frame is different.
  • the rolling-shutter correction method uses a key frame.
  • the key-frame refers to a frame without camera movement and no moving object (moving object), which is a frame created by artificially creating such a situation.
  • the camera motion is converted into a rigid body.
  • Input frame for line delay estimation is placed on a turntable to acquire a frame in order to have a forward rotational conversion.
  • Rolling-shutters are line-scanned, so each scan starts at a different time.
  • the distortion of the rolling-shutter effect is the line delay described above.
  • delay can be expressed as t.
  • the line delay () is the time difference between the start of the previous line and the start of the current line.
  • the line delay ft) is estimated by extracting the feature point relation between the key-frame and the input frames generated in step S110.
  • the rigid rotation transformation starts from the input frame starting from the key-frame start.
  • the feature of the rigid-converted key-frame is the motion of the input frame only, with the motion only by the rigid-rotation transformation without rolling-shutter distortion.
  • Feature points have motion due to rigid rotational transformation and ring-shutter distortion.
  • the difference (distance) between the features of the input frame and the features of the rigidly-converted key-frame represents the rolling-shutter distortion.
  • the line delay ft is estimated by calculating differences (distances) between the transformed ' key-frame's feature points and the input frame's feature points (S130).
  • the distortion caused by the ring-shutter effect is represented by the transformation of the line delay (t,) to the rigid rotational transformation.
  • the rigid rotational transformation is used by converting the angular velocity between frames.
  • y t K 2D feature correspondence of x K at frame t ⁇ ⁇ : 2D RDC of y t K , Y ix): vertical position of x, T: sequence length R t (t t , 3D Rolling shutter rotation of x at frame t
  • the camera gyro is rotated by the turn-table rotation in step S110.
  • the angular velocity corresponding to the rotation is measured (S 150).
  • the angular velocity generated by the camera and the gyroscope are not synchronized because they do not share the same time ramp. Drift and noise characteristics vary according to the gyroscope's specifications.
  • step S120 by comparing the angular velocity measured in step S120 with the angular velocity measured in step S150, the calibration of the gyroscope is performed (S160), and the angular velocity measured in the gyroscope is measured in step S120. Calibrate to be as close as possible to the measured angular velocity (S 170).
  • FIG. 3 and FIG. 4 show correction results according to the rolling-shutter correction method shown in FIG.
  • FIGS. 3 and 4 show images in which distortion is caused by the ring-shutter effect, and images in which rolling-shutter correction is performed on the left of FIGS. 3 and 4, respectively.
  • FIG. 5 is a block diagram of a photographing apparatus according to another embodiment of the present invention.
  • the photographing apparatus includes a camera 110, a gyroscope 120, an image processor 130, a processor 140, and an output unit 150, as shown in FIG.
  • the camera 110 acquires frames through shooting.
  • the gyroscope 120 measures the angular velocity of the camera 110 and passes the measured angular velocity to the processor 140.
  • the image processor 130 is adapted to the rolling-shutter correction method shown in FIG.
  • Synchronization between the camera 110 and the gyroscope 120 is performed.
  • the output unit 150 outputs a rolling-shutter corrected image from the image processor 130.
  • the output through the display includes all outputs by external device transmission.
  • the rotation of the camera is caused when the ring-shutter effect occurs.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)

Abstract

【요약서】 키-프레임과 자이로 스코프를 이용한 롤링-셔터 보정 방법 및 이를 적용한 촬영장치가 제공된다. 본 발명의 실시예에 따른 롤링-셔터 보정 방법은, 키-프레 임의 특징점들을 추출하고, 카메라를 움직이면서 획득한 프레임의 특징점들을 추출 하며, 키-프레임의 특징점들과 프레임의 특징점들을 기반으로 프레임에서의 라인 딜레이를 추정하여, 프레임의 롤링-셔터 효과에 의한 왜곡을 보정한다. 이에 의 해, 키-프레임을 이용하여 롤링-셔터 효과에 의한 왜곡으로 나타나는 라인 딜레이 를 정확하게 추정하여 롤링-셔터 효과에 의한 왜곡을 보정할 수 있게 된다

Description

명세서
발명의명칭:키 -프레임과자이로스코프를이용한롤링 -셔터보정 방법및이를적용한촬영장치
기술분야
[1] 본발명은를링 -셔터 (Rolling Shutter)에관한것으로,더욱상세하게는
롤링-셔터를사용하는카메라에서발생할수있는롤링 -셔터효과에의한왜곡을 측정하고보정하는방법에관한것이다.
배경기술
[2] 글로벌셔터와달리，를링-셔터를사용하는카메라는움직임이크거나
흔들림이심할경우또는움직임객체 (이동체)의움직임이카메라에비하여 상대적으로빠른경우에영상블러현상 (Blur effect)과를링 -셔터효과에의한 왜곡이관측된다.
[3] 이와같은모션블러 (Motion blur)나를링-셔터효과는，영상자체에대해
왜곡을발생시킴은물론,특징점매칭의정확도감소로프레임간모션추출이 부정확해지는둥의문제를야기시킨다.
발명의상세한설명
기술적과제
[4] 본발명은상기와같은문제점을해결하기위하여안출된것으로서，본발명의 목적은，키_프레임을이용하여롤링 -셔터효과에의한왜곡으로나타나는라인 딜레이를정확하게추정하여를링 -셔터효과에의한왜곡을보정하는를링 -셔터 보정방법및이를적용한카메라를제공함에있다.
[5] 또한,본발명의다른목적은，라인딜레이추정후에는카메라의자이로
스코프에서의각속도측정만으로롤링 -셔터보정을수행할수있도록하는방법 및이를적용한카메라를제공함에있다.
과제해결수단
[6] 상기목적을달성하기위한본발명의일실시예에따른，를링 -셔터보정
방법은，키 -프레임의특징점들을추출하는추출단계;카메라를움직이면서 획득한프레임의특징점들을추출하는추출단계;키-프레임의특징점들과 프레임의특징점들을기반으로，프레임에서의라인딜레이를추정하는단계;및 추정된라인딜레이를이용하여,프레임의롤링 -셔터효과에의한왜곡올 보정하는단계;를포함한다.
[7] 그리고，상기라인딜레이추정단계는，키-프레임의특징점들을변환하여
프레임으로이동시키는단계 ;프레임의특징점들과키 -프레임의특징점들을 매칭시키는단계;및매칭결과를기초로,프레임에서의라인딜레이를추정하는 단계;를포함할수있다.
[8] 또한,상기라인딜레이는,프레임의특징점들과키-프레임의특징점들간의 거리를기반으로추정할수있다.
[9] 그리고，상기카메라는，턴-테이블에올려져회전하면서프레임을획득하고, 상기이동단계는,상기키-프레임의특징점들을강체회전변환하여상기 프레임으로이동시킬수있다.
[10] 또한，상기키 -프레임은，상기카메라의움직임이없고움직이는객체가없는 프레임일수있다.
[11] 그리고，본발명의실시예에따른를링-셔터보정방법은，카메라의움직임
정보를획득하는단계;상기카메라의움직임정보와상기라인딜레이를 이용하여,프레임의롤링 -셔터효과에의한왜곡을보정하는단계;를더포함할 수있다.
[12] 또한，본발명의실시예에따른롤링-셔터보정방법은，상기키 -프레임과상기 프레임으로부터파악된움직임정보를참조하여，상기움직임정보를보정하는 단계;를더포함할수있다.
[13] 한편，본발명의다른실시예에따른，촬영장치는，촬영을통해프레임들을 획득하는카메라;및키-프레임의특징점들을추출하고,상기카메라를 움직이면서획득한프레임의특징점들을추출하여，키-프레임의특징점들과 프레임의특징점들을기반으로프레임에서의라인딜레이를추정하고，추정된 라인딜레이를이용하여프레임의를링 -셔터효과에의한왜곡을보정하는영상 프로세서;를포함한다.
발명의효과
[14] 이상설명한바와같이，본발명의실시예들에따르면，키 -프레임을이용하여 를링 -셔터효과에의한왜곡으로나타나는라인딜레이를정확하게추정하여 를링 -셔터효과에의한왜곡을보정할수있게된다.
[15] 또한，본발명의실시예들에따르면，라인딜레이추정후에는카메라의자이로 스코프에서의각속도측정만으로실시간를링 -셔터보정이가능해진다.
[16] 그리고,본발명의실시예들에따르면，조명변화 (Illumination changes)와겹침 현상 (Large Occlusion)에강인한롤링 -셔터보정이가능해진다.
도면의간단한설명
[17] 도 1은본발명의일실시예에따른를링-셔터보정방법의과정설명에
제공되는도면，
[18] 도 2는특징점매칭과라인딜레이추정결과를예시한도면，
[19] 도 3및도 4는，도 1에도시된를링-셔터보정방법에따른보정결과를예시한 도면들，그리고，
[20] 도 5는본발명의다른실시예에따론촬영장치의블력도이다.
발명의실시를위한최선의형태
[21] 이하에서는도면을참조하여본발명을보다상세하게설명한다.
[22] 도 1은본발명의일실시예에따른를링-셔터보정 (Rolling Shutter Rectification) 방법의과정설명에제공되는도면이다.본발명의실시예에따른를링 -셔터 보정방법은，를링-셔터를사용하는카메라에서발생할수있는를링 -셔터 효과를측정 /보정한다.
[23] 롤링-셔터효과는카메라의움직임이빠를경우주로관측되며프레임을
라인별로순차적스캔하는를링-셔터의특성때문에관측되는왜곡현상이다. 를링-셔터를사용하는경우,프레임의각라인을스캔시작하는시간이다르기 때문에，프레임라인별로다른모션을가지게된다.
[24] 이를해결하기위해서는,카메라의모션과라인별로프레임을스캔시작하는 시간차를나타내는라인딜레이 [line delayft)]를추정하여글로벌셔터와같이 라인딜레이 (t를 0으로만드는모션을적용하여보정한다.
[25] 본발명의실시예에따른롤링-셔터보정방법은키 -프레임을이용한다. 여기서,키 -프레임이란,카메라의움직임이없고움직임객체 (이동체)가없는 프레임으로,이와같은상황을인위적으로만들어생성한프레임을말한다.
[26] 또한，본발명의실시예에따른를링-셔터보정방법에서는，를링-셔터효과 측정과정을통해라인딜레이가추정되면,이후에는키-프레임없이카메라의 자이로스코프 (Gyroscope)로각속도만을측정하여롤링 -셔터효과보정이 실시간으로가능하도록한다.
[27] 이를위해，본발명의실시예에따른를링 -셔터보정방법에서는，도 1에도시된 바와같이，먼저，롤링-셔터를사용하고있고자이로스코프가내장된카메라를 턴-테이블 (Turn table)에올려놓고키 -프레임을획득한후에，턴-테이블을좌 /우로 회전시키며프레임을획득한다 (S 110).
[28] 본발명의실시예에서는,카메라모션을강체회전변환 (Rigid-body
Rotation)으로가정하고있기때문에라인딜레이 ( )추정을위한입력프레임 . 또한순수회전변환을갖도록카메라를턴테이블에올려놓고프레임을 취득하는것이다.
[29] 롤링 -셔터는라인단위로스캔이이루어지기때문에，각라인의스캔시작 시점이각기달라라인별로다른모션을가지게되는바，롤링 -셔터효과에의한 영상왜곡은전술한라인딜레이 [line delay(t 로표현할수있다.라인딜레이 ( )는이전라인의스캔시작시점과현재라인의스캔시작시점의시간차이다.
[30] 라인딜레이 ft)는 S110단계에서생성되는키-프레임과입력프레임들간의 특징점대웅관계를추출하여추정한다.
[31] 이를위해，먼저키-프레임과입력프레임간의특징점매칭을통해프레임간 초기강체회전변환을추정하고，키 -프레임에서추출된특징점들을입력 프레임으로강체회전변환시켜입력프레임에서추출된특징점들과
매칭시킨다 (S 120).
[32] 여기서，강체회전변환은키 -프레임시작시점부터입력프레임시작
시점까지의모션으로가정한다.강체변환된키-프레임의특징점들은롤링 -셔터 왜곡없이강체회전변환만에의한모션을갖는반면，입력프레임의 특징점들은강체회전변환과를링 -셔터왜곡에인한모션을갖는다.
[33] 따라서，입력프레임의특징점들과강체회전변환된키-프레임의특징점들 간의차이 (거리)가롤링 -셔터왜곡을나타낸다.
[34] 롤링 -셔터효과가없다면 (즉，글로벌셔터의경우에는)，강체회전변환된 키-프레임의특징점들과입력프레임의특징점들은일치할것이다.하지만， 롤링 -셔터효과가있는경우,도 2에나타난바와같이,강체회전변환된 키 -프레임의특징점들과입력프레임의특징점들은차이 (거리 )가발생하는데， 라인별차이가라인딜레이 (t에해당한다.
[35] 이에따라,변환된'키-프레임의특징점들과입력프레임의특징점들간의 차이 (거리)들을계산하여라인딜레이 ft)를추정하게된다 (S130).
[36] 를링-셔터효과에의한왜곡은강체회전변환에라인딜레이 (t,)를적용한 변환으로나타내며,강체회전변환은프레임간각속도로변환하여사용한다. 최적화과정을통하여,입력프레임으로변환된키-프레임의특징점들과이들에 대웅하는입력프레임의특징점들간의거리를최소로하는라인딜레이 (to를 추정하며,이는아래의수학식 1과같다.
[37] [수학식 1]
[38] xt K = K . Rt K . K-1 . χκ
y't K = K ' Rt(tl, Y yt K ) ' K-1 ' yt K
τ
argmintl ^ \y'tK一
Figure imgf000005_0001
i=l χκ 2Ό keyfraime feature points (In general, t = 1) xt K: 2D keyframe feature points transformed by rigidhody rotation Rt K Rt K： 3D Rotation between the keyframe and current frame t Rt― Rt^iK - Rt K: interfrctme 3D rotation between frame £— 1 and t
yt K: 2D feature correspondence of xK at frame t γΊΚ: 2D RDC of yt K, Y ix): vertical position of x,T: sequence length Rt{tt, 3D Rolling shutter rotation of x at frame t
[39] 이후， S130단계에서추정된라인딜레이 ( )와최적화된프레임간각속도를를 기초로，롤링 -셔터효과에해당하는모션을구하고이의역변환을통하여 롤링 -셔터효과에의한왜곡을보정한다 (S 140).
[40] 이는，각속도와라인딜레이 ft)를아래의역회전변환식에대입하여，입력 프레임의롤링 -셔터효과에의한왜곡을보정할수있게된다.
[41] [수학식 2]
[42] y K = K ^ Rt tl f Y{yt^) ^ K-^ yt K
[43] 한편, S110단계에서의턴-테이불의회전에의해，카메라의자이로 스코프에서는회전에상응하는각속도가측정된다 (S 150).
[44] 하지만，카메라에의해생성되는영상과자이로스코프에생성되는각속도는 동일한타임스램프를공유하지않기때문에,동기화되어있지않다.또한， 자이로스코프의사양에따라 Drift와노이즈특성이다르다.
[45] 이때문에， S120단계를통해측정된프레임간각속도와 S150단계에서측정된 각속도를비교하여,자이로스코프에대한캘리브레이션을수행하여 (S160), 자이로스코프에서측정된각속도가 S 120단계를통해측정된각속도와최대한 비슷해지도록보정한다 (S 170).이에,자이로스코프와카메라영상을
동기화시킬수있게된다.
[46] 이후，자이로스코프를통해획득되는각속도와 S130단계에서추정된타임 딜레이 ( )를이용하여,이후키-프레임없이도실시간으로입력되는프레임에 대한를링 -셔터왜곡보정이가능해진다 (S180).
[47] 도 1에도시된롤링 -셔터보정방법에따른보정결과를도 3과도 4에
예시하였다.도 3과도 4의우측에는를링 -셔터효과에의해왜곡이발생한 영상들을,도 3과도 4의좌측에는롤링 -셔터보정이수행된영상들을，각각 나타내었다.
[48] 도 5는본발명의다른실시예에따른촬영장치의블럭도이다.본발명의
실시예에따른촬영장치는,도 5에도시된바와같이、카메라 (110)，자이로 스코프 (120),영상프로세서 (130)，프로세서 (140)및출력부 (150)를포함한다.
[49] 카메라 (110)는촬영을통해프레임들을획득하는데，획득되는프레임에는
키-프레임도포함된다.자이로스코프 (120)는카메라 (110)의각속도를측정하고， 측정된각속도를프로세서 (140)에전달한다.
[50] 영상프로세서 (130)는도 1에도시된롤링-셔터보정방법에따라
카메라 (110)를통해획득한프레임에서를링 -셔터효과에의한왜곡을보정하고， 프로세서 (140)는자이로스코프 (120)가측정한각속도를보정하여
카메라 (110)와자이로스코프 (120)간동기화를수행한다.
[51] 출력부 (150)는영상프로세서 (130)에서롤링 -셔터보정된영상이출력되는데， 디스플레이를통한출력은물론외부기기전송에의한출력모두를포함한다.
[52] 지금까지，를링-셔터보정방법과이를적용한촬영장치에대해바람직한
실시예들을들어상세히설명하였다.
[53] 위실시예에서，를링 -셔터효과가발생하는상황으로카메라의회전올
상정하였으나，회전이외의다른움직임에의해를링 -셔터효과가발생하는 경우에도본발명의기술적사상이적용될수있다.
[54] 아울러，타임딜레이추정을위해특징점들을추출하여매칭하는기법을
사용하였으나다른기법을사용할수도있다.예를들어，에지를추출하여 매칭하는기법을통해타임딜레이를추정하는것이가능하다.
[55] 나아가，특정패턴이나마커가있는보드를촬영하면서，타임딜레이추정을 위한캘리브레이션을수행하는것이가능하다.타임딜레이추정에적합한 패턴 /마커가있는것으로족하며,그종류에대한제한은없다.
또한,이상에서는본발명의바람직한실시예에대하여도시하고 설명하였지만，본발명은상술한특정의실시예에한정되지아니하며， 청구범위에서청구하는본발명의요지를벗어남이없이당해발명이속하는 기술분야에서통상의지식을가진자에의해다양한변형실시가가능한것은 물론이고，이러한변형실시들은본발명의기술적사상이나전망으로부터 개별적으로이해되어져서는안될것이다.

Claims

청구범위
[청구항 1] 키-프레임의특징점들을추출하는추출단계;
카메라를움직이면서획득한프레임의특징점들을추출하는 추출단계;
키 -프레임의특징점들과프레임의특징점들을기반으로， 프레임에서의라인딜레이를추정하는단계；및
추정된라인딜레이를이용하여,프레임의를링 -셔터효과에의한 왜곡을보정하는단계;를포함하는것을특징으로하는를링 -셔터 보정방법.
[청구항 2] 청구항 1에있어서，
상기라인딜레이추정단계는，
키 -프레임의특징점돌을변환하여프레임으로이동시키는단계； 프레임의특징점들과키 -프레임의특징점들을매칭시키는단계； 매칭결과를기초로，프레임에서의라인딜레이를추정하는 단계;를포함하는것을특징으로하는를링 -셔터보정방법.
[청구항 3] 청구항 2에있어서,
상기라인딜레이는,
프레임의특징점들과키 _프레임의특징점들간의거리를 기반으로추정하는것을특징으로하는를링-셔터보정방법 .
[청구항 4] 청구항 2에있어서,
상기카메라는,턴-테이블에을려져회전하면서프레임을 획득하고,
상기이동단계는，상기키 -프레임의특징점들을강체회전 변환하여상기프레임으로이동시키는것을특징으로하는 롤링 -셔터보정방법.
[청구항 5] 청구항 1에있어서,
상기키 -프레임은，
상기카메라의움직임이없고움직이는객체가없는프레임인 것을특징으로하는를링 -셔터보정방법.
[청구항 6] 청구항 1에있어서,
카메라의움직임정보를획득하는단계;
상기카메라의움직임정보와상기라인딜레이를이용하여， 프레임의롤링 -셔터효과에의한왜곡을보정하는단계;를더 포함하는것을특징으로하는롤링 -셔터보정방법 .
[청구항 7] 청구항 6에있어서，
상기키-프레임과상기프레임으로부터파악된움직임정보를 참조하여，상기움직임정보를보정하는단계;를더포함하는것을 특징으로하는롤링 -셔터보정방법 .
[청구항 8] 촬영을통해프레임들을획득하는카메라;및
키-프레임의특징점들을추출하고，상기카메라를움직이면서 획득한프레임의특징점들을추출하여 ,키 -프레임의특징점들과 프레임의특징점들을기반으로프레임에서의라인딜레이를 추정하고，추정된라인딜레이를이용하여프레임의를링 -셔터 효과에의한왜곡을보정하는영상프로세서；를포함하는것을 특징으로하는촬영장치.
PCT/KR2014/012831 2014-12-24 2014-12-24 키-프레임과 자이로 스코프를 이용한 롤링-셔터 보정 방법 및 이를 적용한 촬영장치 Ceased WO2016104830A1 (ko)

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