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

Claim 4:
5. An image processing method of processing a stereo image to impart a three-dimensional effect on a nearby object in a stereoscopic image system using a stereo camera of a parallel axis type including a left camera and a right camera, the stereo image including a left image obtained by the left camera and a right image obtained by the right camera, the method comprising:
calculating a first horizontal rotation matrix for adjusting a first horizontal parallax of the left image and a second horizontal rotation matrix for adjusting a second horizontal parallax of the right image;
calculating a geometric transformation matrix for the stereo image based on each camera characteristic matrix representing lens characteristics of the stereo camera, the first horizontal rotation matrix, and the second horizontal rotation matrix; and
generating a new stereo image in which the first horizontal parallax and the second horizontal parallax are adjusted by performing image warping for the stereo image captured by the stereo camera based on the calculated geometric transformation matrix,
wherein the geometric transformation matrix is calculated by using the following equations,

ML=KLRyT(θ)KL−1 and MR=KRRyT(−θ)RLRKR−1, and

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 the first horizontal rotation matrix for adjusting the first horizontal parallax for the left image, Ry(−θ) is the second horizontal rotation matrix for adjusting the second horizontal parallax for the right image, 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.