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

Claim 0:
1. 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, a right camera, and an image processing unit, the method comprising:
calculating a vertical rotation matrix (Rrect) for eliminating vertical parallax of the stereo image by using the following equation,, R
    rect
   
   =
   
    [
    
     
      
       
        e
        x
        T
       
      
     
     
      
       
        e
        y
        T
       
      
     
     
      
       
        e
        z
        T
       
      
     
    
    ]
   
  
  ,
 

wherein, e
    x
   
   =
   
    
     t
     LR
    
    
     
      ❘
      "\[LeftBracketingBar]"
     
     
      t
      LR
     
     
      ❘
      "\[RightBracketingBar]"
     
    
   
  
  ,
 

wherein, e
    y
   
   =
   
    
     
      1
      
       
        
         t
         x
         2
        
        +
        
         t
         y
         2
        
       
      
     
     [
     
      
       
        
         -
         
          t
          y
         
        
       
       
        
         t
         x
        
       
       
        0
       
      
     
     ]
    
    T
   
  
  ,
 

wherein ez=ex×ey, and
wherein
tLR=[txtytz]T indicates a translation vector from a left camera coordinate system to a right camera coordinate system,
ex indicates a unit vector in the x-axis direction of a new left camera coordinate system,
ey indicates a unit vector in the y-axis direction of the new left camera coordinate system, and
ez indicates a unit vector in the z-axis direction of the new left camera coordinate system, and wherein the stereo image includes a left image obtained by the left camera and a right image obtained by the right camera;

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 vertical rotation matrix, the first horizontal rotation matrix, and the second horizontal rotation matrix; and
generating a new stereo image in which the vertical parallax is eliminated and 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.