Stereo image processing apparatus and method thereof
A stereo image processing apparatus includes an image acquirer acquiring images captured by a stereo camera including cameras having recognition ranges of their dynamic ranges differently set, and a mapper mapping the images with reference to the determined mapping areas of the images determined from the features extracted from the images. The stereo image processing apparatus further includes tracker tracking linear components from the mapping images by the mapper to determine a reference line segment, and a stereo image processor creating a stereo image for the images based on the determined reference line segments determined on the mapping areas.
1. A stereo image processing apparatus, comprising:
an image acquirer acquiring images captured by a stereo camera including cameras having recognition ranges of their dynamic ranges differently set;
a mapper preprocessing the images to determine mapping areas of the images based on features extracted from the images and mapping the images with reference to the determined mapping areas of the images;
a tracker tracking linear components from the images mapped by the mapper to determine reference line segments; and
a stereo image processor creating a stereo image for each of the images based on the reference line segments determined on the mapping areas,
wherein the mapper performs linear conversion on a particular area on a dynamic range graph for each of the images to perform stereo matching for each of the images and uses a common linear section in dynamic range graphs of the images to determine the mapping areas,
wherein the tracker calculates an average gradient of line segments detected from the images to determine a gradient of the reference line segments, and
wherein the stereo image processor calibrates differences in gradients of linear line segments of the images with respect to the gradient of the reference line segment determined by the tracker to generate the stereo image.
2. The apparatus according to claim 1 , wherein the mapper performs the stereo matching with reference to edge areas of the images or calculates a preset log scale, to determine the mapping areas of the images based on the calculation result.
3. The apparatus according to claim 1 , further comprising a dynamic range adjuster adjusting the recognition ranges of the dynamic ranges for the cameras included in the stereo camera.
4. The apparatus according to claim 1 , wherein the stereo camera including:
a first camera having a first recognition range of its dynamic range set to a range emphasizing a dark area; and
a second camera having a second recognition range of its dynamic range set to a range emphasizing a bright area.
5. The apparatus according to claim 4 , wherein the recognition ranges of their dynamic ranges of the first and second cameras are set to be variable.
6. A stereo image processing method, comprising:
acquiring images captured by a stereo camera including cameras having recognition ranges of their dynamic ranges differently set;
determining mapping areas of the images based on features extracted from the images by preprocessing the images;
mapping the images with reference to the determined mapping areas of the images;
determining reference line segments by tracking linear components from the images mapped in the mapping; and
creating a stereo image for each of the images based on the reference line segments determined on the mapping areas,
wherein the mapping of the images includes performing linear conversion on a particular area on a dynamic range graph for each of the images to perform stereo matching for each of the images, and uses a common linear section in dynamic range graphs of the images to determine the mapping areas,
wherein the determining of the reference line segments includes calculating an average gradient of line segments detected from the images to determine a gradient of the reference line segments, and
wherein the creating of a stereo image for each of the images based on the reference line segments determined on the mapping areas calibrates differences in gradients of linear line segments of the images with respect to the gradient of the reference line segment to generate the stereo image.
7. The method according to claim 6 , further comprising: adjusting the recognition ranges of the dynamic ranges for the cameras included in the stereo camera prior to the acquiring of the images.
8. The method according to claim 6 , wherein the determining of the mapping areas includes performing the stereo matching with reference to edge areas of the images or calculating a preset log scale, to determine the mapping areas of the images based on the calculation result.