DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Kim, Min Hyuk | - |
dc.contributor.advisor | 김민혁 | - |
dc.contributor.author | Jang, Hyeonjoong | - |
dc.date.accessioned | 2021-05-11T19:34:21Z | - |
dc.date.available | 2021-05-11T19:34:21Z | - |
dc.date.issued | 2019 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=875474&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/283098 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 전산학부, 2019.8,[iv, 18 p. :] | - |
dc.description.abstract | Omnidirectional cameras are commonly equipped with fisheye-lenses to capture 360-degree visual information, and severe spherical projective distortion occurs when a 360-degree image is stored as a two-dimensional image array. As a consequence, traditional depth estimation methods are not directly applicable to omnidirectional cameras. Dense depth estimation for omnidirectional imaging has been achieved by applying several offline processes, such as patch-matching, optical flow, and convolutional propagation filtering, resulting in additional heavy computation. No dense depth estimation for real-time applications is available yet. In response, we propose an efficient depth densification method designed for omnidirectional imaging to achieve 360-degree dense depth video with an omnidirectional camera. First, our method takes sparse depth estimates as input with a conventional simultaneous localization and mapping (SLAM) method. We then introduce a novel spherical pull-push method by devising a joint spherical pyramid for color and depth, based on multi-level icosahedron subdivision surfaces. This allows us to propagate the sparse depth continuously over 360-degree angles efficiently in an edge-aware manner. The results demonstrate that our real-time densification method is comparable to state-of-the-art offline methods in terms of per-pixel depth accuracy. Combining our depth densification with a conventional SLAM allows us to capture real-time 360-degree RGB-D video with a single omnidirectional camera. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Omnidirectional camera▼aSLAM▼amulti-level spherical pyramid▼apull-push algorithm▼apull-push algorithm | - |
dc.subject | 전방향 카메라▼aSLAM▼a다단계 구면 구조체▼apull-push 알고리즘▼apull-push 알고리즘 | - |
dc.title | Fast omnidirectional depth densification | - |
dc.title.alternative | 실시간 고해상도 전방향 깊이 정보 생성 기술 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :전산학부, | - |
dc.contributor.alternativeauthor | 장현중 | - |
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