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WO2006062325A1 - Apparatus for correcting image distortion of stereo-camera and method thereof - Google Patents

Apparatus for correcting image distortion of stereo-camera and method thereof Download PDF

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Publication number
WO2006062325A1
WO2006062325A1 PCT/KR2005/004140 KR2005004140W WO2006062325A1 WO 2006062325 A1 WO2006062325 A1 WO 2006062325A1 KR 2005004140 W KR2005004140 W KR 2005004140W WO 2006062325 A1 WO2006062325 A1 WO 2006062325A1
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WO
WIPO (PCT)
Prior art keywords
image
camera
distortion
correction
parallax
Prior art date
Application number
PCT/KR2005/004140
Other languages
French (fr)
Inventor
Hoon-Jong Kang
Dae-Hee Kim
Chung-Hyun Ahn
Soo-In Lee
Original Assignee
Electronics And Telecommunications Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020050038568A external-priority patent/KR100770019B1/en
Application filed by Electronics And Telecommunications Research Institute filed Critical Electronics And Telecommunications Research Institute
Priority to JP2007545366A priority Critical patent/JP4995092B2/en
Publication of WO2006062325A1 publication Critical patent/WO2006062325A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/133—Equalising the characteristics of different image components, e.g. their average brightness or colour balance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/122—Improving the 3D impression of stereoscopic images by modifying image signal contents, e.g. by filtering or adding monoscopic depth cues
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/15—Processing image signals for colour aspects of image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/161—Encoding, multiplexing or demultiplexing different image signal components
    • 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
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • 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

Definitions

  • the present invention relates to an apparatus for correcting an image distortion of a stereo-camera and a method thereof; and, more particularly, an apparatus for correcting a image distortion of a stereo-camera in order to provide a comfort 3-demensional image observation to an observer without visual fatigue by correcting the image distortion such as a color distribution disparity between a left image and a right image, a lens distortion, and a parallax distortion of a 3-dimensional image obtained by the stereo-camera, and a method thereof.
  • a main factor which a human being feels a three-dimensional (3-D) effect is a spatial difference between a left retinal image and a right retinal image.
  • the spatial difference is created as a left eye and a right eye view one object in difference directions.
  • a different image is displayed to each left/right eye using the spatial difference.
  • a stereoscopic image displaying method there are a 3-dimensional observation method wearing glasses and a 3- dimensional observation method without the glasses.
  • the 3-dimensional observation method wearing the glass is used for a huge space such as a theater.
  • observer wearing the glasses can observe a stereoscopic image.
  • the 3-dimensional observation method without the glasses is used for observation 3-D image in a predetermined place.
  • an image display board having a parallax barrier or a lenticular is used to observe 3-D image.
  • the 3-D image is obtained by using at least two cameras.
  • a lens focal length of the used camera is equal to or more than 28mm.
  • a system is developed to obtain the 3-D image based on the potable terminal having more than two cameras.
  • fish-eye lens whose lens focal length is about 5mm is used to adhered camera of the potable terminal.
  • a Field Of View (FOV) is larger.
  • FOV Field Of View
  • parallax distortion is increased.
  • a displaying unit of the terminal becomes scale-down.
  • the 3- D image is tried to be obtained using the stereo-camera having the large FOV.
  • the image obtained based on the above method has parallax distortion caused by variable FOV according to the lens focal length. Thus, there is a visual fatigue problem when the 3-D image is observed.
  • an object of the present invention to provide an apparatus and a method for correcting an image distortion of a stereo-camera in order to provide a comfort 3-demensional image observation to a observer without visual fatigue by correcting the image distortion, e.g., a color distribution disparity between a left image and a right image, a lens distortion, and a parallax distortion of a 3-dimensional image obtained by the stereo- camera.
  • the image distortion e.g., a color distribution disparity between a left image and a right image, a lens distortion, and a parallax distortion of a 3-dimensional image obtained by the stereo- camera.
  • an apparatus for correcting an image distortion of a stereo-camera including: an input means for receiving a left image and a right image obtained by the stereo-camera and a camera information; a first camera parameter generating/storing means for calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information and storing the parallax distortion correction parameter; and a parallax distortion correction means for correcting the left image and right image using the parallax distortion correction parameter to eliminate a parallax distortion between the left image and the right image.
  • the apparatus further including: an image color correction means for making a color distribution between the left image and the right image the same; a second camera parameter generating/storing means for calculating a lens distortion parameter based on the camera information and storing the lens distortion parameter; and a lens distortion correction means for correcting a lens distortion of the left image and the right image individually using the lens distortion parameter.
  • the apparatus further including: a 3-D image multiplexing means for generating a 3-D image by multiplexing the left image and the right image based on a 3-D image format, wherein at least one of the parallax distortion correction means, the image color correction means and the lens distortion correction means distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image.
  • a 3-D image multiplexing means for generating a 3-D image by multiplexing the left image and the right image based on a 3-D image format, wherein at least one of the parallax distortion correction means, the image color correction means and the lens distortion correction means distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image.
  • method for correcting an image distortion of a stereo-camera including steps of: a) receiving a left image and a right image obtained by the stereo-camera and a camera information; b) calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information; and c) correcting the left image and right image using the parallax distortion correction parameter to eliminate a parallax distortion for making disparity distribution of objects located in predetermined distance from the stereo-camera uniformly.
  • the method further including steps of: d) making a color distribution between the left image and the right image (to be) the same; e) calculating a lens distortion parameter based on the camera information; and f) correcting a lens distortion of the left image and the right image individually using the lens distortion parameter.
  • the method further including step of: g) generating a 3-D image (stereoscopic image) by multiplexing the left image and the right image based on a 3-D image format, wherein at least one step of the steps c), d) and f) distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image.
  • the present invention provides a comport 3-D image observation to a 3-D image observer without visual fatigue by correcting the parallax distortion of the 3-D image, i.e., by making the disparity distribution of the objects away from the camera with the predetermined distance uniformly.
  • the present invention provides a natural and low fatigue 3-D image by eliminating a projection of middle area caused by the distortion, a gaucherie caused by the color disparity, and a unnatural 3-D effect caused by the lens distortion when the distortion corrected 3-D images are displayed.
  • Fig. 1 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a first embodiment of the present invention
  • Fig. 2 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a second embodiment of the present invention
  • Fig. 3 shows a barrel distortion
  • Fig. 4 shows a correction image of the barrel distortion
  • Fig. 5 shows optical paths on a plane away from a camera with a distance D;
  • Fig. 6 shows optical paths on the plane away from the camera with the distance D when a stereoscopic image is obtained
  • Fig. 7 shows corrected optical paths on the plane away from the camera with the distance D for allocating vergence points on the same plane when the stereoscopic image is obtained
  • Fig. 8 is a graph for showing a disparity error according to a field of view
  • Fig. 9 is a graph for showing a parallax distortion distribution
  • Fig. 10 is a block diagram showing a camera parameter generating/storing unit in accordance with the present invention.
  • Fig. 1 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a first embodiment of the present invention.
  • the apparatus for correcting the image distortion of a stereo-camera in accordance with a first embodiment of the present invention includes an input block 100, a stereoscopic image correction block 110, and a display block 120.
  • the present invention corrects a left image (a first image) and a right image (a second image) individually.
  • the input block 100 includes a first image input unit 101 for receiving the first image obtained by the stereo- camera, a second image input unit 102 for receiving the second image obtained by the stereo-camera, and a camera information input unit 103 for receiving camera information from outside e.g., the stereo-camera or a user.
  • the stereoscopic image correction block 110 includes a first image color correction unit 111, a first lens distortion correction unit 112, a first parallax distortion correction unit 113, a second image color correction unit 115, a second lens distortion correction unit 116, a second parallax distortion correction unit 117 and a camera parameter generating/storing unit 114.
  • the first image color correction unit 111 and the second image color correction unit 115 receive the first image and the second image respectively, and correct the color of the image so that a color distribution of the first image is identical to that of the second image.
  • the second image can be corrected based on the first image or the color of the first image can be corrected based on the second image.
  • the first lens distortion correction unit 112 and the second lens distortion correction unit 116 receive the first color corrected image and the second color corrected image which are corrected in the first image color correction unit 111 and the second image color correction unit 115 respectively, and correct a barrel distortion and a pincushion distortion using a camera parameter lookup table.
  • a parameter used for correcting lens distortion is a lens distortion parameter (k).
  • the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117 receive the first lens distortion corrected image and the second lens distortion corrected image which are corrected in the first lens distortion correction unit 112 and the second lens distortion correction unit 116 respectively, and correct a distortion according to a field of view (FOV) of the camera using the camera parameter lookup table. That is, the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117 correct parallax distortion caused by the FOV based on the lens focal length of the stereo-camera. Meanwhile, the camera parameter generating/storing unit 114 receives camera information, generates parameters for correcting lens distortion and stores the parameters as the; camera parameter lookup table.
  • FOV field of view
  • the display block 120 includes a first corrected image display unit 121 and a second corrected image display unit 122.
  • the first corrected image display unit 121 and the second corrected image display unit 122 display the first corrected image and the second corrected image of which color disparity, lens distortion, and parallax distortion are corrected in the stereoscopic image correction block 110.
  • the stereoscopic image correction block 110 corrects the distortions and outputs the corrected first image and the corrected second image.
  • the first image color correction unit 111 and the second image color correction unit 115 will be described. Because the first image and the second image are obtained by different cameras at different locations, the incidence lightness and light component distribution for each of the first image and the second image are different, resulting in different color distributions between the first image and the second image. Therefore, human beings feel fatigue and awkwardness when the stereoscopic images having different color distribution are observed. Thus, the color distribution between the first image and the second image are made identical by the first image color correction unit 111 and the second image color correction unit 115 using a color correction algorithm such as histogram matching.
  • a color correction algorithm such as histogram matching.
  • the color distribution of the second image can be corrected based on the first image or the color distribution of the first image can be corrected based on the second image.
  • Color distribution corrected images inputted to the first lens distortion correction unit 112 and the second lens distortion correction unit 116, respectively for correcting a camera lens distortion.
  • the distortion is corrected in the first lens distortion correction unit 112 and the second lens distortion correction unit 116.
  • the barrel distortion can be expressed as following Equation 1.
  • r u is a distance from a center point to a predetermined point in a corrected image
  • r d is a distance from a center point to a predetermined point in a distorted image
  • k is the lens distortion parameter
  • the camera parameter generating/storing unit 114 calculates the lens distortion parameter and stores the lens distortion parameter to a lookup table. Then, the first lens distortion correction unit 112 and the second lens distortion correction unit 116 correct the lens distortion using the lens distortion parameter (k) of the camera parameter table. Lens distortion corrected images - the first lens distortion corrected image and the second lens distortion corrected image which corrected the barrel distortion and the pincushion distortion - inputted to the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117, respectively for correcting a parallax distortion.
  • the parallax distortion is caused when the first image and the second image are obtained with different location and different angle. (Refer to Fig. 6)
  • a disparity error (DE) can be expressed as a following Equation 2.
  • D is a distance from the camera to the vergence point
  • FOV is a field of view of the camera
  • ⁇ is a rotating angle of the camera
  • B is a base line between the cameras. Therefore, as the FOV and the B are larger, the disparity error is increasing. As shown in Fig. 7, as the DE is increasing, the parallax distortion is increasing.
  • the parallax distortion can be corrected by interpolating a parallax distortion correction parameter which is calculated by using following equation 3 and equation 4. That is, the parallax distortion correction parameter is calculated by using the following equation 3 and equation 4 and the parallax distortion can be corrected by interpolating the calculated parallax distortion correction parameter.
  • P mO ve_p and P mO ve_N are the parallax distortion correction parameters (They mean parallax error.).
  • P move ⁇ p represents a first left pixel motion factor for correction in the left region of the left image
  • P mO ve_N represents a first right pixel motion factor for correction in the right region of the left image.
  • D c is a position to be corrected
  • D v is a distance between the camera and the object
  • B is a half distance between the two cameras.
  • P mO ve_p represents a second right pixel motion factor for correction in the right region of the right image
  • P move _N represents a second left pixel motion factor for correction in the left region of the right image.
  • Fig. 2 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a second embodiment of the present invention.
  • the apparatus for correcting an image distortion of the stereo-camera in accordance with the first embodiment of the present invention corrects the first image and the second image individually.
  • a first individually corrected image and a second individually corrected image can be a 3-D image (stereoscopic image) by multiplexing.
  • the apparatus for correcting the image distortion of a stereo-camera in accordance with the second embodiment of the present invention includes an input block 200, a stereoscopic image correction block 210, and a display block 220.
  • the second embodiment of the present invention corrects distortions of the 3-D image which multiplexed with the first image and the second image.
  • the input block 200 includes a first image input unit 201 for receiving the first image obtained by the stereo- camera, a second image input unit 202 for receiving the second image obtained by the stereo-camera, a camera information input unit 203 for receiving camera information from outside e.g., stereo-camera or user, and a 3-D image multiplexing unit 204 for generating a 3-D image by multiplexing the first image and the second image based on a 3-D image format such as a side-by-side, a top-down, a field-by-field.
  • a 3-D image multiplexing unit 204 for generating a 3-D image by multiplexing the first image and the second image based on a 3-D image format such as a side-by-side, a top-down, a field-by-field.
  • the stereoscopic image correction block 210 includes an image color correction unit 211, a lens distortion correction unit 212, a parallax distortion correction unit 213, and a camera parameter generating/storing unit 214.
  • the image color correction unit 211 receives the 3-D image from the 3-D image multiplexing unit 204 and corrects a color distribution between the first image and the second image inside the 3-D image to be the same.
  • the lens distortion correction unit 212 receives the color corrected 3-D image and corrects a barrel distortion and a pincushion distortion using a camera parameter lookup table.
  • the parallax distortion correction unit 213 receives the lens distortion corrected 3-D image and corrects a parallax distortion according to the FOV of the camera using the camera parameter lookup table.
  • the camera parameter generating/storing unit 214 receives camera information, generates parameters for correcting lens distortion and stores the parameters as the camera parameter lookup table. This will be described in detail with reference to Fig. 10.
  • the display block 220 displays the corrected 3-D image which is corrected a color distribution, a lens distortion and a parallax distortion in the stereoscopic image correction block 210.
  • the method of the second embodiment in accordance with the present invention is almost same as the method of the first embodiment. That is, the left image and the right image are distinguished in the 3-D image and each distinguished images are corrected in the second embodiment.
  • the correction method is same as the first embodiment.
  • a system in accordance with the second embodiment is simple and uses a low memory.
  • Fig. 3 shows a barrel distortion
  • Fig. 4 shows a correction image of the barrel distortion.
  • a telephoto lens or a fish-eye lens is used.
  • the barrel distortion or a pincushion distortion occurred by a lens when the images are obtained.
  • an observer sees distorted images and feels visual fatigue when distorted stereoscopic images are observed.
  • Fig. 5 shows optical paths forming I spacings on a plane disposed away from a camera at a distance D
  • Fig. 6 shows optical paths to the plane disposed away from cameras at the distance D when a stereoscopic image is obtained
  • Fig. 7 shows optical paths corrected to lay vergence points on the same plane which is disposed away from the cameras at the distance D when the stereoscopic image is obtained.
  • Figs. 5 to 7 will be described together.
  • the optical paths have I spacings on the plane disposed away from the stereo-camera at the distance D. This is the same as the result obtained by correcting aberration of the lens and lens distortion.
  • the vergence points are not located on the same plane away from the stereo-camera with the distance D. That is, when the stereoscopic image of an object away from a camera with the distance D is obtained, a disparity at the vergence is distributed nonlinearly. As shown in Fig. 7, if the disparity is corrected, the vergence points are located on the same plane away from the camera with the distance D for all optical paths.
  • Fig. 8 is a graph for showing a disparity error according to a field of view. As shown in Fig. 8, the FOV is different according to the lens focal length of the camera, and a parallax distortion is increased as the disparity error increases according to the FOV larger.
  • Fig. 9 is a graph for showing a parallax distortion distribution.
  • Fig. 9 represents the parallax distortion distribution corresponding to the P mO ve_p and the P move _N-
  • x axis represents a size of the image
  • y axis represents a degree of the distortion
  • Fig. 9 is a block diagram showing a camera parameter generating/storing unit in accordance with the present invention.
  • the camera parameter generating/storing unit 900 includes a camera parameter generating unit 901 and a camera parameter storing unit 902.
  • the camera parameter generating unit 901 receives camera information from the camera information input unit 103, and generates a camera parameters based on the camera information and diameter of a charge coupled device (CCD) sensor.
  • the camera parameters are regenerated when the camera information is updated.
  • the camera information includes a lens focal length (f) of the camera, a camera rotation angle ( ⁇ ), an object distance (D v ): a distance from the object to the camera, and a base line (B): a distance between the cameras.
  • the camera parameter generating unit 901 generate a lens distortion parameter k according to the lens focal length.
  • the camera parameter generating unit 901 calculates a FOV using the CCD diameter and the lens focal length and generates the lens distortion parameter k using the calculated FOV. Then, the camera parameter storing unit 902 stores the lens distortion parameter k in the camera parameter lookup table.
  • the camera parameter generating unit 901 calculates a location D c to be corrected using the object distance D v and the base line B. Then, the camera parameter generating unit 901 calculates a parallax distortion correction parameter P m ove p and Pmove N using the object distance D v , the base line B and the calculated position D c .
  • the camera parameter storing unit 902 stores the camera parameters which are generated in the camera parameter generating unit 901 as a look-up table. Therefore, a lens distortion correction and a parallax distortion correction caused by the camera lens can be performed quickly using the look-up table.
  • the present application contains subject matter related to Korean patent application Nos. 2004-0101775 and 2005-0038568, filed with the Korean Patent Office on Dec 6, 2004, and May 9, 2005, respectively, the entire contents of which being incorporated herein by reference. While the present invention has been described with respect to the particular embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

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Abstract

The present invention provides an apparatus for correcting an image distortion of a stereo-camera and a method thereof. The apparatus including: an input means for receiving a left image and a right image obtained by the stereo-camera and a camera information; a first camera parameter generating/storing means for calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information and storing the parallax distortion correction parameter; and a parallax distortion correction means for correcting the left image and right image using the parallax distortion correction parameter to eliminate a parallax distortion between the left image and the right image.

Description

APPARATUS FOR CORRECTING IMAGE DISTORTION OF STEREO-CAMERA
AND METHOD THEREOF
Description Technical Field
The present invention relates to an apparatus for correcting an image distortion of a stereo-camera and a method thereof; and, more particularly, an apparatus for correcting a image distortion of a stereo-camera in order to provide a comfort 3-demensional image observation to an observer without visual fatigue by correcting the image distortion such as a color distribution disparity between a left image and a right image, a lens distortion, and a parallax distortion of a 3-dimensional image obtained by the stereo-camera, and a method thereof.
Background Art
Generally, a main factor which a human being feels a three-dimensional (3-D) effect is a spatial difference between a left retinal image and a right retinal image. The spatial difference is created as a left eye and a right eye view one object in difference directions. In order to display a stereoscopic image or a three-dimensional (3-D) image, a different image is displayed to each left/right eye using the spatial difference.
As a stereoscopic image displaying method, there are a 3-dimensional observation method wearing glasses and a 3- dimensional observation method without the glasses.
The 3-dimensional observation method wearing the glass is used for a huge space such as a theater. In this method, observer wearing the glasses can observe a stereoscopic image. The 3-dimensional observation method without the glasses is used for observation 3-D image in a predetermined place. In this method, an image display board having a parallax barrier or a lenticular is used to observe 3-D image. The 3-D image is obtained by using at least two cameras. A lens focal length of the used camera is equal to or more than 28mm. Meanwhile, as a displaying technique of a potable terminal is developed, a system is developed to obtain the 3-D image based on the potable terminal having more than two cameras. Here, fish-eye lens whose lens focal length is about 5mm is used to adhered camera of the potable terminal.
That is, as the lens focal length of the camera is shorter, a Field Of View (FOV) is larger. As the FOV is larger, parallax distortion is increased. Recently, a displaying unit of the terminal becomes scale-down. The 3- D image is tried to be obtained using the stereo-camera having the large FOV.
However, the image obtained based on the above method has parallax distortion caused by variable FOV according to the lens focal length. Thus, there is a visual fatigue problem when the 3-D image is observed.
Disclosure Technical Problem
It is, therefore, an object of the present invention to provide an apparatus and a method for correcting an image distortion of a stereo-camera in order to provide a comfort 3-demensional image observation to a observer without visual fatigue by correcting the image distortion, e.g., a color distribution disparity between a left image and a right image, a lens distortion, and a parallax distortion of a 3-dimensional image obtained by the stereo- camera. Technical Solution
In accordance with an aspect of the present invention, there is provided an apparatus for correcting an image distortion of a stereo-camera including: an input means for receiving a left image and a right image obtained by the stereo-camera and a camera information; a first camera parameter generating/storing means for calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information and storing the parallax distortion correction parameter; and a parallax distortion correction means for correcting the left image and right image using the parallax distortion correction parameter to eliminate a parallax distortion between the left image and the right image.
The apparatus further including: an image color correction means for making a color distribution between the left image and the right image the same; a second camera parameter generating/storing means for calculating a lens distortion parameter based on the camera information and storing the lens distortion parameter; and a lens distortion correction means for correcting a lens distortion of the left image and the right image individually using the lens distortion parameter.
The apparatus further including: a 3-D image multiplexing means for generating a 3-D image by multiplexing the left image and the right image based on a 3-D image format, wherein at least one of the parallax distortion correction means, the image color correction means and the lens distortion correction means distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image. In accordance with an aspect of the present invention, there is provided method for correcting an image distortion of a stereo-camera, including steps of: a) receiving a left image and a right image obtained by the stereo-camera and a camera information; b) calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information; and c) correcting the left image and right image using the parallax distortion correction parameter to eliminate a parallax distortion for making disparity distribution of objects located in predetermined distance from the stereo-camera uniformly.
The method further including steps of: d) making a color distribution between the left image and the right image (to be) the same; e) calculating a lens distortion parameter based on the camera information; and f) correcting a lens distortion of the left image and the right image individually using the lens distortion parameter. The method further including step of: g) generating a 3-D image (stereoscopic image) by multiplexing the left image and the right image based on a 3-D image format, wherein at least one step of the steps c), d) and f) distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image.
Advantageous Effects
The present invention provides a comport 3-D image observation to a 3-D image observer without visual fatigue by correcting the parallax distortion of the 3-D image, i.e., by making the disparity distribution of the objects away from the camera with the predetermined distance uniformly. In addition, the present invention provides a natural and low fatigue 3-D image by eliminating a projection of middle area caused by the distortion, a gaucherie caused by the color disparity, and a unnatural 3-D effect caused by the lens distortion when the distortion corrected 3-D images are displayed.
Description of the Drawings
The above and other objects and features of the present invention will become apparent from the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a first embodiment of the present invention;
Fig. 2 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a second embodiment of the present invention;
Fig. 3 shows a barrel distortion;
Fig. 4 shows a correction image of the barrel distortion; Fig. 5 shows optical paths on a plane away from a camera with a distance D;
Fig. 6 shows optical paths on the plane away from the camera with the distance D when a stereoscopic image is obtained; Fig. 7 shows corrected optical paths on the plane away from the camera with the distance D for allocating vergence points on the same plane when the stereoscopic image is obtained;
Fig. 8 is a graph for showing a disparity error according to a field of view; Fig. 9 is a graph for showing a parallax distortion distribution; and
Fig. 10 is a block diagram showing a camera parameter generating/storing unit in accordance with the present invention.
Best Mode for the Invention
Other objects and aspects of the invention will become apparent from the following description of the embodiments with reference to the accompanying drawings, which is set forth hereinafter.
Fig. 1 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a first embodiment of the present invention. Below, the method for correcting the image distortion of the stereo-camera performed in the apparatus for correcting the image distortion of the stereo-camera will be described together. As shown, the apparatus for correcting the image distortion of a stereo-camera in accordance with a first embodiment of the present invention includes an input block 100, a stereoscopic image correction block 110, and a display block 120. The present invention corrects a left image (a first image) and a right image (a second image) individually.
The input block 100 includes a first image input unit 101 for receiving the first image obtained by the stereo- camera, a second image input unit 102 for receiving the second image obtained by the stereo-camera, and a camera information input unit 103 for receiving camera information from outside e.g., the stereo-camera or a user.
The stereoscopic image correction block 110 includes a first image color correction unit 111, a first lens distortion correction unit 112, a first parallax distortion correction unit 113, a second image color correction unit 115, a second lens distortion correction unit 116, a second parallax distortion correction unit 117 and a camera parameter generating/storing unit 114. The first image color correction unit 111 and the second image color correction unit 115 receive the first image and the second image respectively, and correct the color of the image so that a color distribution of the first image is identical to that of the second image. Herein, the second image can be corrected based on the first image or the color of the first image can be corrected based on the second image.
Then, the first lens distortion correction unit 112 and the second lens distortion correction unit 116 receive the first color corrected image and the second color corrected image which are corrected in the first image color correction unit 111 and the second image color correction unit 115 respectively, and correct a barrel distortion and a pincushion distortion using a camera parameter lookup table. Herein, a parameter used for correcting lens distortion is a lens distortion parameter (k).
Then, the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117 receive the first lens distortion corrected image and the second lens distortion corrected image which are corrected in the first lens distortion correction unit 112 and the second lens distortion correction unit 116 respectively, and correct a distortion according to a field of view (FOV) of the camera using the camera parameter lookup table. That is, the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117 correct parallax distortion caused by the FOV based on the lens focal length of the stereo-camera. Meanwhile, the camera parameter generating/storing unit 114 receives camera information, generates parameters for correcting lens distortion and stores the parameters as the; camera parameter lookup table.
Lately, the display block 120 includes a first corrected image display unit 121 and a second corrected image display unit 122. The first corrected image display unit 121 and the second corrected image display unit 122 display the first corrected image and the second corrected image of which color disparity, lens distortion, and parallax distortion are corrected in the stereoscopic image correction block 110.
Below, each correction steps in the stereoscopic image correction block 110 will be described in detail.
The first image and the second image, the stereoscopic images obtained by using a left camera and a right camera, have distortions such as color disparity, lens distortion, parallax distortion because of different camera, different location and different angle. Thus, the stereoscopic image correction block 110 corrects the distortions and outputs the corrected first image and the corrected second image.
First, a color correction step in the first image color correction unit 111 and the second image color correction unit 115 will be described. Because the first image and the second image are obtained by different cameras at different locations, the incidence lightness and light component distribution for each of the first image and the second image are different, resulting in different color distributions between the first image and the second image. Therefore, human beings feel fatigue and awkwardness when the stereoscopic images having different color distribution are observed. Thus, the color distribution between the first image and the second image are made identical by the first image color correction unit 111 and the second image color correction unit 115 using a color correction algorithm such as histogram matching.
Herein, the color distribution of the second image can be corrected based on the first image or the color distribution of the first image can be corrected based on the second image.
Color distribution corrected images inputted to the first lens distortion correction unit 112 and the second lens distortion correction unit 116, respectively for correcting a camera lens distortion.
Next, a lens distortion correction step in the first lens distortion correction unit 112 and the second lens distortion correction unit 116 will be described in detail. Object images are obtained using the camera apart short distance or long distance, telephoto lens or fish-eye lens is used. The barrel distortion or the pincushion distortion occurred by lens when the images obtained. (Refer to Fig. 3A)
As shown in Fig. 3, an observer sees distorted images and feels visual fatigue when distorted stereoscopic images are observed. In the present invention, the distortion is corrected in the first lens distortion correction unit 112 and the second lens distortion correction unit 116.
The barrel distortion can be expressed as following Equation 1.
ru=rd(l+k-rd 2) E<3- (X>
Wherein, ru is a distance from a center point to a predetermined point in a corrected image; rd is a distance from a center point to a predetermined point in a distorted image; and k is the lens distortion parameter.
Here, the camera parameter generating/storing unit 114 calculates the lens distortion parameter and stores the lens distortion parameter to a lookup table. Then, the first lens distortion correction unit 112 and the second lens distortion correction unit 116 correct the lens distortion using the lens distortion parameter (k) of the camera parameter table. Lens distortion corrected images - the first lens distortion corrected image and the second lens distortion corrected image which corrected the barrel distortion and the pincushion distortion - inputted to the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117, respectively for correcting a parallax distortion.
Next, a parallax distortion correction step in the first parallax distortion correction unit 113 and the second parallax distortion correction unit 117 will be described in detail.
The parallax distortion is caused when the first image and the second image are obtained with different location and different angle. (Refer to Fig. 6)
When the stereoscopic image is obtained by using a intersection axes method with the stereo-camera having no lens distortion, vergence points are not located on the same plane away from the stereo-cameras with a distance D. (This different allocation of the optical paths is illustrated in Fig. 6) That is, when the stereoscopic image of an object away from a camera with the distance D is obtained, a disparity at the vergence point is distributed nonlinearly. It means that depths are different on the same plane.
Thus, the parallax distortion correction is needed to allocate vergence points are located on the same plane away from the stereo-camera with the distance D for all optical paths. That is, the parallax distortion has to be corrected for obtaining a stable stereoscopic image (3-D image) with low visual fatigue. As shown in Fig. 5, a disparity error (DE) can be expressed as a following Equation 2.
Figure imgf000012_0001
Herein, D is a distance from the camera to the vergence point; FOV is a field of view of the camera, θ is a rotating angle of the camera, and B is a base line between the cameras. Therefore, as the FOV and the B are larger, the disparity error is increasing. As shown in Fig. 7, as the DE is increasing, the parallax distortion is increasing.
The parallax distortion can be corrected by interpolating a parallax distortion correction parameter which is calculated by using following equation 3 and equation 4. That is, the parallax distortion correction parameter is calculated by using the following equation 3 and equation 4 and the parallax distortion can be corrected by interpolating the calculated parallax distortion correction parameter.
Figure imgf000012_0002
Here, PmOve_p and PmOve_N are the parallax distortion correction parameters (They mean parallax error.).
That is, for the left image obtained by a left camera, Pmove^p represents a first left pixel motion factor for correction in the left region of the left image; PmOve_N represents a first right pixel motion factor for correction in the right region of the left image.
Also, Dc is a position to be corrected; Dv is a distance between the camera and the object; B is a half distance between the two cameras. Meanwhile, for the right image obtained by a right camera, PmOve_p represents a second right pixel motion factor for correction in the right region of the right image;
Pmove_N represents a second left pixel motion factor for correction in the left region of the right image.
A distribution of the parallax distortion correction parameter (Pmove_p> Pmove_N) is shown in Fig. 9.
Fig. 2 is a block diagram describing an apparatus for correcting an image distortion of a stereo-camera in accordance with a second embodiment of the present invention.
As shown in Fig. 1, the apparatus for correcting an image distortion of the stereo-camera in accordance with the first embodiment of the present invention corrects the first image and the second image individually. A first individually corrected image and a second individually corrected image can be a 3-D image (stereoscopic image) by multiplexing.
However, as shown in Fig 2, the apparatus for correcting the image distortion of a stereo-camera in accordance with the second embodiment of the present invention includes an input block 200, a stereoscopic image correction block 210, and a display block 220. The second embodiment of the present invention corrects distortions of the 3-D image which multiplexed with the first image and the second image.
First, the input block 200 will be described in detail below.
The input block 200 includes a first image input unit 201 for receiving the first image obtained by the stereo- camera, a second image input unit 202 for receiving the second image obtained by the stereo-camera, a camera information input unit 203 for receiving camera information from outside e.g., stereo-camera or user, and a 3-D image multiplexing unit 204 for generating a 3-D image by multiplexing the first image and the second image based on a 3-D image format such as a side-by-side, a top-down, a field-by-field.
After, the stereoscopic image correction block 210 will be described.
The stereoscopic image correction block 210 includes an image color correction unit 211, a lens distortion correction unit 212, a parallax distortion correction unit 213, and a camera parameter generating/storing unit 214. The image color correction unit 211 receives the 3-D image from the 3-D image multiplexing unit 204 and corrects a color distribution between the first image and the second image inside the 3-D image to be the same.
Then, the lens distortion correction unit 212 receives the color corrected 3-D image and corrects a barrel distortion and a pincushion distortion using a camera parameter lookup table.
Then, the parallax distortion correction unit 213 receives the lens distortion corrected 3-D image and corrects a parallax distortion according to the FOV of the camera using the camera parameter lookup table.
Meanwhile, the camera parameter generating/storing unit 214 receives camera information, generates parameters for correcting lens distortion and stores the parameters as the camera parameter lookup table. This will be described in detail with reference to Fig. 10.
Lastly, the display block 220 displays the corrected 3-D image which is corrected a color distribution, a lens distortion and a parallax distortion in the stereoscopic image correction block 210.
In brief, the method of the second embodiment in accordance with the present invention is almost same as the method of the first embodiment. That is, the left image and the right image are distinguished in the 3-D image and each distinguished images are corrected in the second embodiment. The correction method is same as the first embodiment. However, a system in accordance with the second embodiment is simple and uses a low memory.
Fig. 3 shows a barrel distortion and Fig. 4 shows a correction image of the barrel distortion.
When an object image viewed from a short distance or a long distance is obtained using the camera, a telephoto lens or a fish-eye lens is used. The barrel distortion or a pincushion distortion occurred by a lens when the images are obtained. As shown in Fig. 3, an observer sees distorted images and feels visual fatigue when distorted stereoscopic images are observed.
Fig. 5 shows optical paths forming I spacings on a plane disposed away from a camera at a distance D; Fig. 6 shows optical paths to the plane disposed away from cameras at the distance D when a stereoscopic image is obtained; and Fig. 7 shows optical paths corrected to lay vergence points on the same plane which is disposed away from the cameras at the distance D when the stereoscopic image is obtained. Hereinafter, Figs. 5 to 7 will be described together.
As shown in Fig. 5, when the image is obtained by using the camera having no lens distortion, the optical paths have I spacings on the plane disposed away from the stereo-camera at the distance D. This is the same as the result obtained by correcting aberration of the lens and lens distortion.
As shown in Fig. 6, when the stereoscopic image is obtained by using an intersection axes method with the stereo-camera having no lens distortion, the vergence points are not located on the same plane away from the stereo-camera with the distance D. That is, when the stereoscopic image of an object away from a camera with the distance D is obtained, a disparity at the vergence is distributed nonlinearly. As shown in Fig. 7, if the disparity is corrected, the vergence points are located on the same plane away from the camera with the distance D for all optical paths.
Fig. 8 is a graph for showing a disparity error according to a field of view. As shown in Fig. 8, the FOV is different according to the lens focal length of the camera, and a parallax distortion is increased as the disparity error increases according to the FOV larger.
Fig. 9 is a graph for showing a parallax distortion distribution. Fig. 9 represents the parallax distortion distribution corresponding to the PmOve_p and the Pmove_N-
(Refer to Equations 3 to 4) Here, x axis represents a size of the image; y axis represents a degree of the distortion.
Fig. 9 is a block diagram showing a camera parameter generating/storing unit in accordance with the present invention.
As shown in Fig. 10, the camera parameter generating/storing unit 900 includes a camera parameter generating unit 901 and a camera parameter storing unit 902. The camera parameter generating unit 901 receives camera information from the camera information input unit 103, and generates a camera parameters based on the camera information and diameter of a charge coupled device (CCD) sensor. In addition, the camera parameters are regenerated when the camera information is updated. Herein, the camera information includes a lens focal length (f) of the camera, a camera rotation angle (θ), an object distance (Dv): a distance from the object to the camera, and a base line (B): a distance between the cameras. In detail, the camera parameter generating unit 901 generate a lens distortion parameter k according to the lens focal length. That is, the camera parameter generating unit 901 calculates a FOV using the CCD diameter and the lens focal length and generates the lens distortion parameter k using the calculated FOV. Then, the camera parameter storing unit 902 stores the lens distortion parameter k in the camera parameter lookup table.
Moreover, the camera parameter generating unit 901 calculates a location Dc to be corrected using the object distance Dv and the base line B. Then, the camera parameter generating unit 901 calculates a parallax distortion correction parameter Pmove p and Pmove N using the object distance Dv, the base line B and the calculated position Dc.
In addition, the camera parameter storing unit 902 stores the camera parameters which are generated in the camera parameter generating unit 901 as a look-up table. Therefore, a lens distortion correction and a parallax distortion correction caused by the camera lens can be performed quickly using the look-up table. The present application contains subject matter related to Korean patent application Nos. 2004-0101775 and 2005-0038568, filed with the Korean Patent Office on Dec 6, 2004, and May 9, 2005, respectively, the entire contents of which being incorporated herein by reference. While the present invention has been described with respect to the particular embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims

What is claimed is;
1. An apparatus for correcting an image distortion of a stereo-camera, the apparatus comprising: an input means for receiving a left image and a right image obtained by the stereo-camera and camera information; a first camera parameter generating/storing means for calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information and storing the parallax distortion correction parameter; and a parallax distortion correction means for correcting the left image and right image using the parallax distortion correction parameter to eliminate a parallax distortion between the left image and the right image.
2. The apparatus as recited in claim 1, wherein the camera information includes a lens focal length f, a distance from an object to the stereo-camera Dv, and a distance between the cameras B.
3. The apparatus as recited in claim 1, the apparatus further comprising: an image color correction means for making a color distribution of the left image identical to that of the right image.
4. The apparatus as recited in claim 3, wherein the image color correction means determines one of the left image and the right image as a reference image, and makes the color distribution of the other image identical to that of the reference image.
5. The apparatus as recited in claim 1, the apparatus further comprising: a second camera parameter generating/storing means for calculating a lens distortion parameter based on the camera information and storing the lens distortion parameter; and a lens distortion correction means for correcting a lens distortion of the left image and the right image individually using the lens distortion parameter.
6. The apparatus as recited in claim 5, wherein the lens distortion parameter is calculated by using a field of view (FOV) based on a CCD diameter and a lens focal length of the stereo-camera.
7. The apparatus as recited in claim 1, wherein the first camera parameter generating/storing means calculates a correction position Dc using a object distance Dv and a base line B, calculates the parallax distortion correction parameter using the object distance Dv, the base line B and the correction position Dc, stores the parallax distortion correction parameter and updates the parallax distortion correction parameter.
8. The apparatus as recited in claim 7, wherein the parallax distortion correction parameter includes parameters: a first left pixel motion factor PmOve_p for correction in a left region of the left image which is calculated by an equation 1 for the left image; a first right pixel motion factor PmOve_N for correction in a right region of the left image which is calculated by an equation 2 for the left image; a second right pixel motion factor Pmove_p for correction in a right region of the right image which is calculated by the equation 1 for the right image; and a second left pixel motion factor Pmove_N f°r correction in a left region of the right image which is calculated by the equation 2 for the right image, wherein the equation 1 and the equation 2 are expressed as:
[Equation 1]
[ Equation 2 ] .
Figure imgf000020_0001
9. The apparatus as recited in claim 8, wherein the parallax distortion correction means corrects the parallax distortion by interpolating the parallax distortion correction parameter with respect to the left image and the right image individually.
10. The apparatus as recited in claim 9, the apparatus further comprising: a 3-D image multiplexing means for generating a 3-D image by multiplexing the left image and the right image based on a 3-D image format, wherein at least one of the parallax distortion correction means, the image color correction means and the lens distortion correction means distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image.
11. A method for correcting an image distortion of a stereo-camera, the method comprising steps of: a) receiving a left image and a right image obtained by the stereo-camera and a camera information; b) calculating a parallax distortion correction parameter representing a parallax error between the left image and the right image based on the camera information; and c) correcting the left image and right image using the parallax distortion correction parameter to eliminate a pairallax distortion for making disparity distribution of objects located in predetermined distance from the stereo- camera uniformly.
12. The method as recited in claim 11, the method further comprising step of: d) making a color distribution of the left image identical to that of the right image.
13. The method as recited in claim 11, the method further comprising steps of: e) calculating a lens distortion parameter based on the camera information; and f) correcting a lens distortion of the left image and the right image individually using the lens distortion parameter.
14. The method as recited in claim 11, wherein the step b) comprising the steps of: bl ) calculating a correction position Dc using a object distance Dv and a base line B; and b2) calculating the parallax distortion correction parameter using the object distance Dv, the base line B and the correction position Dc.
15. The method as recited in claim 14, wherein the step b2 ) comprising the steps of: b2-l) calculating a first left pixel motion factor
Pmc»ve_p for correction in a left region of the left image which is calculated by an equation 1 and a first right pixel motion factor Pmove_N for correction in a right region of the left image which is calculated by an equation 2 for the left image; and b2-2) calculating a second right pixel motion factor Pmove_p for correction in a right region of the right image which is calculated by the equation 1 and a second left pixel motion factor PmOve_N for correction in a left region of the right image which is calculated by the equation 2 for the right image, wherein the equation 1 and the equation 2 are expressed as:
Pmove_P [Equation 1]
[ Equation 2 ] .
Pmove_N
Figure imgf000022_0001
16. The method as recited in claim 15, wherein the step c) corrects the parallax distortion by interpolating the pixel motion factors (the first left pixel motion factor, the first right left pixel motion factor, the second left pixel motion factor and the second right pixel motion factor) with respect to the left image and the right image individually.
17. The method as recited in claim 16, the method further comprising step of: g) generating a 3-D image (stereoscopic image) by multiplexing the left image and the right image based on a 3-D image format, wherein at least one step of the steps c), d) and f) distinguishes the left image and the right image inside the 3-D image and performs the corresponding correction with respect to each of the left image and the right image.
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