KR101755665B1 - System of point cloud bundler in 3D image information with stereo matching technology - Google Patents

Abstract

The present invention relates to a point cloud bundler system based on three-dimensional shape information generated by a stereo matching technique, and more particularly to a stereo cloud stereo system using a stereo stereo matching technique, And a point cloud bundler system using three-dimensional shape information generated by matching technology.

Description

[0001] The present invention relates to a point cloud bundler system using three-dimensional shape information generated by stereo matching technology,

Field of the Invention The present invention relates to a point cloud bundler system based on three-dimensional shape information generated by a stereo matching technique in the field of geodesy, and more particularly to a point cloud bundler system using stereo positioning technology, To a point cloud bundler system using three-dimensional shape information generated by a stereo matching technique.

The human visual system is known to obtain distance information by appropriately matching two images obtained at different positions.

Stereo matching is one of the computer vision fields to automate the distance extraction capability of the human visual system.

This method is widely used for medical imaging, factory automation, and map production because it is more effective than the distance measurement as a function of the flight time and speed of light using ultrasonic waves and laser as a light source, It is coming.

The basic steps for acquiring distance information are image acquisition, feature extraction, stereo matching, displacement estimation, distance calculation from displacement, etc. Here, the most important factor is selection of matching elements to be used as characteristics, It is possible to obtain.

However, the disadvantage of stereo matching is that a value for a stereo image of a pair of images according to the resolution can be obtained.

Since a pair of stereo images has a too large value, it takes a long time to process the data, so it is necessary to erase this case through the feature matching.

On the other hand, in the case of facial expression analysis using a file having an extension of SfM (Surface Feet per Minute), it is advantageous to acquire the entire shape information by using multiple images, but the scale value for the three- I do not.

However, in the case of SfM, the scale value is applied when the user takes a GCP (Ground Control Point) for a specific point or inputs an external facial expression element for each photograph, but the skill of the user affects the result Therefore, it is necessary not to be influenced by proficiency.

Korean Patent Publication No. 10-2008-0068438 (Jul. 23, 2008) 'Method of Generating 3D Terrain Model and 3D Surface Model in Stereo Image'

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems in the prior art, and provides advantages of stereo matching and SfM such as absolute expression through stereo matching and error distribution through multi-shape modeling of SfM The present invention provides a point cloud bundler system using three-dimensional shape information generated by a stereo matching technique in which a stereoscopic coordinate system is used to express absolute coordinates in a stereo coordinate system using a positional attitude.

In order to achieve the above-mentioned object, the present invention provides a video camera, comprising: a bundler server (310) for communicating with a stereo camera (100) via a wireless communication network and receiving image information; A map database 320 connected to the bundler server 310 for inputting, outputting, storing, updating, and deleting regional digital map information according to a control signal of the bundler server 310; A matching unit 330 connected to the bundler server 310 for matching images acquired by the stereo camera 100 to generate 3D shape information; And a mapper 340 connected to the bundler server 310 and configured to express an image acquired by the stereo camera 100 in an absolute coordinate system of the map. A system comprising:

The stereo camera 100 is fixed to the upper surface of the mounting plate 210 so that the stereo camera 100 can be fixedly mounted on the mounting plate 210. A ball cup 220 is fixed to the upper surface of the mounting plate 210, A U-shaped fixing post 230 is connected to a lower end surface of the mounting plate 210 to support the mounting plate 210 and;

The fastening bracket 240 is coupled to the fixing post 230 and is supported and fixed to a belt BT that is wound around the user's waist through a fastening piece 250 integrated with the fastening bracket 240, The fastening bracket 240 includes a front cover 242 and a rear cover 244 and fastening bolts 246 fastening the fastening brackets 240. The front cover 242 has arc- And the pair of coupling pieces 242a are connected together by a front connecting piece 242b to form an integral body; The rear cover 244 is also formed with a pair of arc-shaped binding pieces 244a at both ends thereof, and the pair of binding pieces 244a are connected together by a rear connecting piece 244b to form an integral body; The fastening bolt 246 fastens the front connecting piece 242b and the rear connecting piece 244b to each other; A fixed supporting piece 250 is extended to the rear upper end of the rear connecting piece 244b of the rear cover 244. The fixed supporting piece 250 is extended and bent to a predetermined length again to form a bent end 252, And the bent end 252 penetrates into the space between the belt BT and the pants and the lower end of the belt BT is fixed to the belt BT in order to stably fix the fixed supporting piece 250 to the belt BT. And a release preventing piece (254) which surrounds the belt (BT) and has one end inserted into the bent end (252) and the other end screwed to the lower end surface of the fixed supporting piece (250) And provides a point cloud bundler system with three-dimensional shape information generated by matching technology.

The present invention is advantageous in that it does not take a long time to process the data because a pair of stereo images do not have a too large value and is solved through feature point matching.

In addition, in the case of SfM, the scale value is applied when a user takes a GCP for a specific point or inputs an external facial expression element for each photograph, but the advantage is that the proficiency of the user does not affect the result.

In addition, the present invention can utilize the advantages of Stereo matching and SfM such as absolute expression through stereo matching and error distribution through multi-shape modeling of SfM.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is an example of the final result of vertical direction 3D data.
2 is an illustration of a collinear conditional expression.
Figure 3 shows an example of epipolar line matching
Figure 4 is an illustration of a camera coordinate system and a real coordinate system.
Figure 5 is an example of matching through an epiline.
FIG. 6 is an illustration of a W matrix formed through multiple images; FIG.
7 illustrates an example of the SfM algorithm processing process.
8 is an exemplary flow of data.
FIG. 9 is a state diagram illustrating a state in which a stereo-matched image is expressed in absolute terms based on the position, attitude, and focal length of a camera.
FIG. 10 is a diagram showing an example of a positional value error value between respective images indicated by a red line and a yellow line; FIG.
11 is an exemplary view of matching feature points between images using left 2D image information.
12 is an exemplary illustration of extracting multiple stereo matching data feature points.
13 is an example of correcting the result through the left side of each registered image.
14 is a side view of an example of 3D data registration;
Fig. 15 is an example of collectively moving result values for a position point. Fig.
16 shows an example of SLAM used for autonomous driving in Germany;
17 is a schematic configuration diagram of a bundler system according to the present invention;
18 is an exemplary view showing the structure of a cradle of a stereo camera according to the present invention.
Fig. 19 is an exemplary cross-sectional view excerpted from the main part of Fig. 18; Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

The point cloud bundler system based on the three-dimensional shape information generated by the stereo matching technique of the present invention is characterized in that absolute stereoscopic operation is performed using a position coordinate system in a stereo coordinate system.

 FIG. 1 is an example of the final result of 3D data in the vertical direction, which illustrates the result finally obtained through a plurality of processes described later.

One of the processing steps for this is to include epipolar line correction.

[ Epipolar  Line correction]

The epipolar curve generation is a technique for generating an epipolar curve through a repetitive projection on the left image and the right image on the ground point, starting at an arbitrary point on the left image.

An example of the epipolar curve with respect to the center of the left image will be illustrated by way of example with reference to Fig. 3.

The q1 and q2 image points of the right image are obtained through the maximum and minimum height of the ground at the center point p of the image according to FIG. 2, and these two points respectively generate the left image p ', p "through the same method.

Repeatedly, the projection point continues to be generated and reaches the end of the image, which is the epipolar curve after the projection image point.

An image transformation equation is derived for the image, and 0.5 pixel and precision y parallax of the resampling image variation equation is secured through the epipolar curve.

For example, supposing that a point P in the three-dimensional space is projected to p in the image A and projected to p 'in the image B as shown in FIG. 3, e and e', where the line connecting the two camera origin and the image plane meet, The line l, l 'connecting the projection point and the epipole is called an epiline or an epipolar line,

The epiline can also be expressed as an equilibrium collinear condition between an epipolar plane connecting the 3D point P and the origin of the two cameras and the image plane.

When we know the geometric relationship [Rlt] between the two camera positions and know the image coordinate p in the image A, we get the coordinates of the corresponding point p 'in the image B. In this case, ) Information, the projected coordinate p 'from the image coordinate p can not be uniquely determined either.

However, since the point P exists on a line connecting the origin of the camera A and p, it can be seen that when the straight line is projected on the image B, the point p 'is on the projected straight line.

This projected straight line is epiline l '.

In summary, epiline l ', which is a straight line passing through p', can not be determined uniquely from the image coordinate p 'of the corresponding B from the image coordinate p of A in Fig. 3 can be uniquely determined.

The transformation matrix for calculating the corresponding epiline in one image from one image coordinate is Fundamental Matrix, Essential Matrix.

There are some transformation relations between Fundamental Matrix and Essential Matrix between image coordinates taken at two different view points. In Epiploar Geometry, various geometric problems are solved based on this transformation relation.

[Essential Matrix]

[Equation 1] [Equation 2]

In Essential Matrix, matching points of images taken at any two points are always related by [Equation 1], and [Equation 1] is called epipolar constraint (or essential constraint).

In this equation, the 3x3 matrix E is called the Essential Matrix as shown in [Equation 2].

The reason why Essential Matrix E always exists is as follows.

Since the relationship between arbitrary two camera coordinate axes can be related by rotation and translation, when a 3 × 3 rotation matrix between two camera coordinate axes is R and a 3 × 1 parallel motion vector is t, Can be expressed as shown in [Equation 3] below.

[Equation 3]

Where P is the three-dimensional coordinate of the point on the outer space when viewed from the A camera coordinate system, and P 'is the three-dimensional coordinate of the point on the B camera coordinate system.

At this time, if Essential Matrix E is held as shown in [Equation 4]

[Equation 4]

The following Equation 5 is satisfied.

In Equation (4), [t] x means the vector outer product with the vector t.

Also, [t] xR does not refer to the outer product of t and R, but to a series of transformations that first rotate to R and then t and outer product. That is, Ep = [t] xRp = t x (Rp).

[Equation 5] [Equation 6]

In this case, when E = [t] xR is substituted into the left side of Equation (5), it can be seen that 0 always appears as in Equation (7).

[Equation 7]

Now, by replacing the camera coordinates of [Equation 5] with the normal image coordinates, it can be seen that [Equation 8] holds.

[Equation 8]

[Fundamental Matrix]

The Fundamental Matrix is a matrix that represents the geometric relationship between the actual pixel coordinates of two images, including camera parameters.

For any two images A and B, there is always a matrix F between matched pixel coordinates pimg and pimg 'that satisfies the following relationship, and this matrix F is called a Fundamental Matrix, as shown in [Equation 9,10] Can be expressed.

[Equation 9] [Equation 10]

Let K be the camera matrix of the image B, K be the camera matrix parameter for the image A, and E be the Essential Matrix between the images A and B. The Fundamental Matrix F is given by Eq.

[Equation 11] [Equation 12]

If the images A and B are photographed with the same camera, the equations (11) and (12) can be further simplified as shown in the following equations (13) and (14) because the camera matrix (K) is the same.

[Equation 13] [Equation 14]

[camera calibration (Camera Calibration)]

The camera image is obtained by projecting the points on the three-dimensional space onto the two-dimensional image plane.

In the pinhole camera model, this conversion relation is modeled as follows.

[Equation 15]

[Equation 15] is a modeling formula relating to camera calibration.

Here, the coordinates of the 3D point on the world coordinate system, [Rlt] is the rotation / motion transformation matrix for converting the world coordinate system to the camera coordinate system, and A is the camera matrix.

This condition is well illustrated in the attached FIG.

Formally, the camera calibration represents the conversion relationship between the 3D spatial coordinates and the 2D image coordinates.

When the three-dimensional points are reconstructed from the image coordinates or the three-dimensional spatial coordinates are reconstructed from the image coordinates, it is necessary to remove the internal factors to obtain the accurate calculation. In order to obtain the parameter values of the internal factors Is referred to as camera calibration.

[Original stereo Matching method ]

Stereo matching can be divided into feature-based and area-based methods depending on the matching elements.

The matching primitives used in the feature base are zero intersections, boundaries, edges, floors, valleys, and conic curves.

In order to obtain the displacement values of the entire image, a difficult interpolation process including occlusion modeling and disparity continuity is required because the matching points are accurate and noise-resistant, but there are few matching points. .

On the other hand, the matching elements in the area-based method use the shape, the average brightness and the area of the same area in which the brightness information changes smoothly or the same.

Since the matching element depends on brightness information, there is an advantage in that the entire distance information of the image can be obtained although there is a weakness in noise.

Recently, there have been various methods such as hierarchical matching method, complex matching method using multiple matching elements, matching method using color information, matching method using multiple stereo images, phase matching method, neural network method, And the like have been proposed.

( 1) Billboard Sweep  Stereo parallax matching algorithm

It is an algorithm that determines the parallax between stereo image and background, object on the ground, and background in distant background. In the proposed system, object region is used as a detection region candidate region among three regions of ground, object and background.

The process for determining the parallax and label of the image is largely divided into a homography-based matching cost acquisition process and a multi-directional line optimization process using the calculated matching cost.

First, a homography-based matching cost is obtained for each of the predefined three-dimensional planes.

The relationship between the stereo camera and the 3D plane is expressed as homography H as follows.

[Equation 16]

( 2) Correlation  Base function

Correlation based functions (NCC, NC, Censustransform) show more robust characteristics such as linear brightness change and image distortion between two images than difference based functions (SAD, SSD).

In order to improve the matching performance in the case where there is a large amount of noise of the image in the real image or in the boundary region of the object, the window based function is mainly used in the window-based comparison matching.

For images with poor lighting conditions or brightness offsets, the correlation-based matching method provides relatively better results than the vehicle-based matching method.

Please refer to FIG. 5 attached hereto.

The correlation-based functions are described in the NCC.

The general expression of the NCC algorithm is as follows.

[Equation 17]

The NCC algorithm uses the covariance of the pixel values of the left and right images as a numerator and denominates the standard deviation of each pixel as shown in [Equation 17].

At this time, the standard deviation takes the value of the square root of the variance.

In this way, brightness correlation of images is compared to find the value with the greatest similarity.

For the left-image-based stereo matching process, the NCC results are compared for the right-eye parallax range [0, d] for the two window regions lying on the same epipolar line in the equations.

The range of the NCC result is [-1,1], but in the stereo matching process, the range of [0,1] is covered by excluding the inverse correlation.

[ SfM Point cloud extraction through

Research for obtaining 3D information using 2D image has been actively studied in the field of computer vision.

Most of the basic research refers to a partial three-dimensional reconstruction through a stereo geometry study in a stereo camera.

The structure from motion (SFM) study using multiple image geometry through over three images has no restriction on the environment such as the shooting environment or the need for separate camera calibration. It has a preservation function.

The W metrics (2m x n) produced in the following weighted image geometry are defined or described as the following formulas shown in FIGS. 6 and 7 attached hereto.

The SfM technique is a computer vision technique for reconstructing a subject with 3D point cloud data through image matching using epipolar geometry.

The SfM technique extracts feature points (SGM) from the images stored in the photographs using focal length, camera type, image size, etc. as initial values and joining images.

[1] Stereo Matching - http://cilab.knu.ac.kr/research/Vision/matching.htm

[2] epipolar geometry - http://darkpgmr.tistory.com/83

[3] [Geometry # 1] Coordinate system - http://darkpgmr.tistory.com/77

[4] Hardware structure based on NCC algorithm for high-speed parallax estimation in high-density 3D shape measurement system - Kwon Lee, Kwon Soon, Yong Whan Lee, Jong Hoon Lee, Byung In

[5] A basic study for 3D quantification by incomplete data matrix based on multiple images Song, Seung-Hyun, Lee, Seok, Oh, Kyung-Hee,

[6] Sangji University class materials

http://hjiklee.sangji.ac.kr/%EA%B5%90%EC%88%98%EB%8B%98%20%ED%99%88%ED%8E%98%EC%9D%B4 % EC% A7% 80% 20% EC% 88% 98% EC% 97% 85% EC% 9E% 90% EB% A3% 8C /% EC% 82% AC% EC% A7% 84% EC% B8% A1% EB% 9F% 89% / EA% B1% B4% EC% 84% A4% EB% B6% 84% EC% 95% BCGIS_6% EC% 9E% A5_% EB% 93% 9C% EB% A1% A0 % EC% 82% AC% EC% A7% 84% EC% B8% A1% EB% 9F% 89% (2016% EB% 85% 841% ED% 95% 99% EA% B8% B0) .pdf

The present invention is able to obtain values for a pair of stereo images according to the resolution which is a disadvantage of stereo matching.

Also, since a pair of stereo images has a too large value, it takes a long time to process the data.

We want to eliminate this case through feature matching.

In the case of facial expression analysis using SfM, it is advantageous to acquire whole shape information using multiple images, but it is not appropriate to use it for design because the scale value for the three-dimensional acquired image is not applied.

However, in the case of SfM, the scale value is applied when the user takes a GCP for a specific point or inputs an external facial expression for each photograph, but the proficiency of the user affects the result.

In conclusion, we want to use the advantages of Stereo matching and SfM such as absolute expression through stereo matching and error distribution by multi-shape modeling of SfM.

The present invention shows image coordinate values through the data flow diagrams of FIGS. 8 and 9. FIG.

Depth map is outputted through stereo matching image, and left camera based position point (local coordinate conversion) for depth map is outputted with inner facial expression element.

This data flow diagram is well illustrated in FIG.

FIG. 9 shows a state in which a stereo-matched image is expressed in absolute terms through a camera position, an attitude, and a focal length value.

The image with only absolute facial expression has the following error for the same position point.

In FIG. 10, the position error value between the respective images can be confirmed by displaying the red line and the yellow line.

And the connectivity between images is ensured through feature point matching between 2D images.

Here, the three-dimensional coordinate value obtained from the stereo matching is allocated, and the accurate position of the position point is output.

11, the feature point matching state between each image using the left 2D image information is well shown.

Each image through the minutiae matching is as shown in FIG. 12, which is obtained by multiplexing, and a position error is caused according to the matching accuracy according to each position point.

The three-dimensional data of the obtained values are averaged to balance the accuracy.

Compares the position values of x1, y1, and z1 in the image with the x2, y2, and z2 position values.

The points are considered to be the same point, and the values are averaged to estimate the external facial expression again.

Fig. 13 shows a result correction result through the left values of the respective matched images.

Fig. 14 shows the 3D data matching state on the side portion, and Fig. 15 shows a state in which the result values for the position points are collectively shifted.

In addition, SLAM (Simultaneous Localization And Mapping) is used in autonomous navigation in Germany as shown in Fig. 16 with similar technology.

According to this, when the robot starts traveling in the space of the image, there is no information about the surrounding environment. Therefore, in order for the robot to perform an operation based on the position information, a map of the environment is created using the sensor information, and a self position is estimated from the created map at the same time.

SLAM uses various kinds of sensors such as a distance sensor and a vision sensor.

Typical examples of the distance sensor include a laser scanner, an infrared scanner, an ultrasonic sensor, a radar, and a radar. The vision sensor includes a stereo camera, a monocamera, an omnidirectional camera, and a Kinect.

The distance sensor can easily obtain the distance information to the object, but it has a disadvantage that the kind of information that can be utilized is limited.

The vision sensor can process the image information and obtain various kinds of information of the distance and the recognized object.

Based on this concept, the Bundler system according to the present invention includes a bundler server 310 for communicating with a stereo camera 100 via a wireless communication network and receiving image information, as shown in FIG. 17; A map database 320 connected to the bundler server 310 for inputting, outputting, storing, updating, and deleting regional digital map information according to a control signal of the bundler server 310; A matching unit 330 connected to the bundler server 310 for matching images acquired by the stereo camera 100 to generate 3D shape information; And a mapper 340 connected to the bundler server 310 and expressing an image acquired by the stereo camera 100 in a map coordinate system.

In this case, the stereo camera 100 incorporates a communication module to enable wireless communication. Particularly, in order to increase the portability and allow the operator to use both hands comfortably, the stereo camera 100 is mounted on the mounting plate 210 As shown in FIG.

In this case, the mounting plate 210 is formed of a synthetic resin in the form of a rectangular plate, and a ball cup 220 for guiding the ball joint is protruded at the center of the upper surface. In the center of the lower end surface of the stereo camera 100, And a ball joint portion 110 which is ball jointed and rotatable is protruded from the ball joint portion 220.

A U-shaped fixing post 230 is connected to the lower end surface of the mounting plate 210 to support the mounting plate 210.

The fastening bracket 240 is fastened to the fixing post 230 and the fastening bracket 240 is fastened to the belt BT So that it is possible to grasp the mounting plate 210 by using the waist without holding it by hand, thereby providing an advantage of being able to work while using both hands freely.

More specifically, the fastening bracket 240 includes a front cover 242, a rear cover 244, and fastening bolts 246 fastening them.

At this time, the front cover 242 is formed with a pair of arc-shaped fastening pieces 242a at both ends thereof, and the pair of fastening pieces 242a are connected together by the front connecting piece 242b.

Similarly, the rear cover 244 is formed with a pair of arc-shaped binding pieces 244a at both ends thereof, and the pair of binding pieces 244a are connected to each other by the rear connecting piece 244b.

The fastening bolt 246 fastens the front connecting piece 242b and the rear connecting piece 244b to each other.

A rectangular rubber plate 248 may be interposed between the front cover 242 and the rear cover 244 to increase the clamping force while preventing the slider from slipping when the fixing pillar 230 is wrapped around the fixing pillar 230.

That is, when the front cover 242 and the rear cover 244 are mutually fastened while the rubber plate 248 is wound around the fixing column 230, the rubber plate 248 is inserted between the fixing column 230 and the fastening bracket 240, It is possible to maintain the interposed state.

In addition, a fixed supporting piece 250 is extended to the rear upper surface of the rear connecting piece 244b of the rear cover 244.

The fixed support piece 250 has a bent end portion 252 which is extended after being extended and then vertically bent and extended again by a predetermined length.

At this time, the bent end portion 252 penetrates into the space between the belt BT and the pants and is wrapped around the lower portion of the belt BT so that the fixed supporting piece 250 is stably fixed to the belt BT (254), one end of which is inserted into the bent end (252) and the other end is screwed to the lower end surface of the fixed support piece (250).

In this case, the stationary support piece 250 is not detached from the belt BT, and the stable camera fixing force is provided, so that the stereo camera 100 can be stably supported.

Here, both the fixing plate 210 and the fixing post 230 are formed of a synthetic resin. In order to provide corrosion resistance (moisture resistance), antifouling property, and durability, it is preferable to form the synthetic resin composition as follows.

That is, the synthetic resin composition comprises 60 wt% of polyethylene resin, 20 wt% of silica, and the remaining functional additives, wherein the functional additive is composed of 2 parts by weight of 1,4-butylene glycol, 3 parts by weight of propyltitanate, 1.5 parts by weight of Mica, 3 parts by weight of colloidal silica, 4 parts by weight of aluminum alkoxide, 10 parts by weight of polylactic acid, 2 parts by weight of alumina powder having a particle size of 1-2 mu m, 2 parts by weight of N-cyclohexybenzothiazole-2-sulfenamide, 3 parts by weight of montmorillonite, 7 parts by weight of Ds (Dichlorodimethylsilane), 3 parts by weight of calcium stearate, 4 parts by weight of ethylene glycol monomethyl ether and 5 parts by weight of Polysorbate 80 5 parts by weight of sodium silicate, 5 parts by weight of sodium erosorbate, 3 parts by weight of salicylic acid ester, 2 parts by weight of terbium, 5 parts by weight of bauxite clinker powder having a particle size of 0.1-0.2 μm 2 parts by weight of? -aminopropyltriethoxysilane, 2 parts by weight of aromatic polyamine, 1 part by weight of sodium oxide (Na ₂ O), 1 part by weight of ferric trioxide (Fe ₂ O ₃ ), 2 parts by weight of alkylene amide, 2 parts by weight of ester, and 2 parts by weight of a water lily powder having a particle size of 0.1 mm or less.

At this time, the polyethylene resin is a base resin, and the 1,4-butylene glycol is added in order to enhance adhesion and maximize adhesion, and the tetraisopropyltitanate is a coupling agent having an organic titanate structure, It is added to enhance the durability by strengthening the interfacial adhesion force between the resin and the inorganic material.

The mica is a kind of silicate minerals, which is crushed to a size of 0.1-0.2 μm and sieved, and is added to enhance durability and impact resistance due to hardness characteristics.

In addition, the colloidal silica is preferably an amorphous silica sol having a particle diameter of 5-50 nm, and the aluminum alkoxide is added to perform a curing catalyst and a crosslinking agent function, and a secondary coating having a high hardness Contributing.

In addition, the polylactic acid is a synthetic polymer type resin having excellent moisture resistance and processability, has a melting temperature of 150 to 200 ° C, and is improved in softness, tensile strength and elongation by ductility.

And, alumina is a compound of aluminum and oxygen and added for improving durability.

In addition, CZ (N-cyclohexybenzothiazole-2-sulfenamide) is added to increase surface slip property and to maximize prevention of foreign matter adhesion.

In addition, montmorillonite is added as an inorganic filler to increase mechanical properties, and Ds (Dichlorodimethylsilane) is added as a strong hydrophobic substance to maximize moisture resistance.

And, calcium stearate is added as a dispersant to promote the lubricating function and induce homogeneous dispersibility of the additives.

In addition, ethylene glycol monomethyl ether is added to enhance the adhesiveness, and it is added to increase the durability by strengthening the adhesion force.

In addition, Polysorbate 80 (Polysorbate 80) is one of the nonionic surfactants derived from sorbitol, which is added to prevent moisture from spreading. Sodium silicates are added to enhance the surface adhesion and enhance the cohesiveness. And sodium erosorbate is added to prevent oxidation.

In addition, the salicylic acid ester has a function of absorbing ultraviolet rays to prevent the resin from being deformed by ultraviolet rays.

In addition, terbium is a rare earth metal belonging to lanthanum family, and it has a good ductility and ductility, which contributes to improvement of buffering and wear resistance of the coating layer.

In addition, a bauxite clinker powder having a particle size of 0.1-0.2 mu m is added to increase the binding force to increase the compressive strength.

The? -Aminopropyltriethoxysilane is added as a silane coupling agent for coupling between a thermosetting resin such as a melamine resin and an inorganic material in order to increase the bonding property, the adhesion property, and the surface strength.

In addition, the aromatic polyamines are intended to promote curing.

In addition, the sodium oxide performs a function of raising the refractivity by reacting with silicon dioxide to form a silicate. In particular, the sodium oxide also performs an antioxidant function.

The iron diiron trioxide is mainly used for anti-corrosive function, but it is added in order to suppress interfacial separation in the present invention, and it should be added in a small amount due to the characteristic of iron oxide.

In addition, the alkylene amide is added to maintain lubricity and stability, and is added in order to smoothly mix and prevent crushing after mixing.

In addition, the sulfuric acid ester is added in order to increase the heat resistance while being decomposed by the photo-thermal effect for ultraviolet rays.

Furthermore, the water lily powder is obtained by taking a water lily, drying it thoroughly, and pulverizing it into a powder, which is a natural moisture absorber and biodegradable, thus being eco-friendly. The training has an excellent effect especially for adsorbing hydrocarbons and oil mist.

In order to confirm the foreign matter resistance and moisture resistance according to such composition, it was confirmed that water was formed when the sheet was formed into a sheet having a size of 10 cm x 5 cm x 0.5 cm and then sprayed with water to set the sheet up to 90 degrees. As a result of the experiment, it was confirmed that the water flowed down after 15 degrees and the humidity was excellent. This also means that the foreign matter prevention property is high.

100: stereo camera 310: bundler server
320: Map database 330: Matcher
340: Mapper

Claims (1)

A bundler server (310) for communicating with the stereo camera (100) via a wireless communication network and receiving image information; A map database 320 connected to the bundler server 310 for inputting, outputting, storing, updating, and deleting regional digital map information according to a control signal of the bundler server 310; A matching unit 330 connected to the bundler server 310 for matching images acquired by the stereo camera 100 to generate 3D shape information; And a mapper 340 connected to the bundler server 310 and configured to express an image acquired by the stereo camera 100 in an absolute coordinate system of the map. A system comprising:
The stereo camera 100 is fixed to the upper surface of the mounting plate 210 so that the stereo camera 100 can be fixedly mounted on the mounting plate 210. A ball cup 220 is fixed to the upper surface of the mounting plate 210, A U-shaped fixing post 230 is connected to a lower end surface of the mounting plate 210 to support the mounting plate 210 and;
The fastening bracket 240 is coupled to the fixing post 230 and is supported and fixed to a belt BT that is wound around the user's waist through a fastening piece 250 integrated with the fastening bracket 240, The fastening bracket 240 includes a front cover 242 and a rear cover 244 and fastening bolts 246 fastening the fastening brackets 240. The front cover 242 has arc- And the pair of coupling pieces 242a are connected together by a front connecting piece 242b to form an integral body; The rear cover 244 is also formed with a pair of arc-shaped binding pieces 244a at both ends thereof, and the pair of binding pieces 244a are connected together by a rear connecting piece 244b to form an integral body; The fastening bolt 246 fastens the front connecting piece 242b and the rear connecting piece 244b to each other; A fixed supporting piece 250 is extended to the rear upper end of the rear connecting piece 244b of the rear cover 244. The fixed supporting piece 250 is extended and bent to a predetermined length again to form a bent end 252, And the bent end 252 penetrates into the space between the belt BT and the pants and the lower end of the belt BT is fixed to the belt BT in order to stably fix the fixed supporting piece 250 to the belt BT. And a release preventing piece (254) which surrounds the belt (BT) and has one end inserted into the bent end (252) and the other end screwed to the lower end surface of the fixed supporting piece (250) A point cloud bundler system with 3D shape information generated by matching technology.

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