Patent ID: 11902492
Assignee: KOREA ATOMIC ENERGY RESEARCH INSTITUTE
Field: Audio-visual technology (Electrical engineering)
Classification: CPC H  G | IPC G  H

Claim 2:
3. The image processing method of claim 1, wherein the geometric transformation matrix is calculated by using the following equations,

ML=KLRyT(θ)RrectKL−1 and MR=KRRyT(−θ)RrectRLRKR−1,

wherein ML is a geometric transformation matrix for the left image among the stereo image captured by the stereo camera, MR is a geometric transformation matrix for the right image among the stereo image captured by the stereo camera, KL is a camera characteristic matrix representing lens characteristics of the left camera, KR is a camera characteristic matrix representing lens characteristics of the right camera, Ry(θ) is a first horizontal rotation matrix for adjusting the first horizontal parallax for the left image, Ry(−θ) is a second horizontal rotation matrix for adjusting the second horizontal parallax for the right image, Rrect is a vertical rotation matrix for adjusting the vertical parallax, RLR is a rotation matrix from a left camera coordinate system to a right camera coordinate system, a superscript −1 means an inverse matrix, and a superscript T means transpose of a matrix.