# US 2019/0318453 A1 · Apparatus and method of generating stitched image based on look-up table > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0318453 A1 - Document ID: US20190318453A1 - Status: Published application - Kind: A1 - Application number: 16/155,660 - Filed: 2018-10-09 - Published: 2019-10-17 - Earliest claimed: 2018-04-11 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Soon Heung JUNG; Yong Ju CHO; Jeong Il SEO - Web page: https://patentgrep.com/patent/US20190318453A1 ## CPC - G06T 3/4038: Image mosaicing, e.g. composing plane images from plane sub-images - G06T 3/153: using elastic snapping - G06T 3/18: Image warping, e.g. rearranging pixels individually - G06T 5/50: using two or more images, e.g. averaging or subtraction - G06T 5/80: Geometric correction - G06T 7/33: using feature-based methods - G06T 7/337: {involving reference images or patches} - G06T 2200/32: involving image mosaicing - G06T 2207/10012: Stereo images - G06T 2207/30232: Surveillance - G06T 2207/30236: Traffic on road, railway or crossing - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Disclosed is an apparatus and method of generating a stitched image. A method of generating a stitched image according to the present disclosure includes: obtaining a plurality of input images; determining whether or not a parallax problem occurs between overlapping areas of the obtained input images; updating a predetermined look-up table according to the determination; and generating a stitched image by applying the updated look-up table to the input images. ## Claims ### Claim 1 A method of generating a stitched image, the method comprising: obtaining a plurality of input images; determining whether or not a parallax problem occurs between overlapping areas of the obtained input images; updating a predetermined look-up table according to the determination; and generating a stitched image by applying the updated look-up table to the input images. ### Claim 2 (depends on 1) The method of claim 1, wherein the determining of whether or not the parallax problem occurs includes: calculating a sum of squared errors (SSE) of each of the overlapping areas of the input images; and comparing the calculated SSE with a predetermined threshold value. ### Claim 3 (depends on 1) The method of claim 1, wherein in the updating of the look-up table, a value of a control point that is used as a reference point so as to be warped to a predetermined coordinate system is updated. ### Claim 4 (depends on 1) The method of claim 1, wherein the updating of the predetermined look-up table according to the determination includes: calculating a homography by using feature point matching when the parallax problems has occurred; and updating a look-up table of the overlapping area where the parallax problems has occurred by using the calculated result. ### Claim 5 (depends on 1) The method of claim 1, wherein the generating of the stitched image includes: performing warping for the input images to a predetermined coordinate system by applying the updated look-up table; and generating the stitched image by stitching the respective overlapping areas of the input images that are warped to the predetermined coordinate system. ### Claim 6 (depends on 4) The method of claim 4, wherein the updating of the predetermined look-up table according to the determination further includes updating the look-up table based on a position of a control point present adjacent to the overlapping area where the parallax has occurred. ### Claim 7 (depends on 1) The method of claim 1, wherein the updating of the predetermined look-up table according to the determination includes: dividing the overlapping area into a plurality of sub-areas when the parallax problems has occurred; and updating the look-up table of the overlapping area where the parallax problems has occurred based on a difference value between pixels included in the sub-area. ### Claim 8 An apparatus for generating a stitched image, the apparatus comprising: an input unit for obtaining a plurality of input images; a control unit; and a storage unit storing a predetermined look-up table, wherein the control unit determines whether or not a parallax problem occurs between overlapping areas of the obtained input images, updates the look-up table according to the determination, and generates a stitched image by applying the updated look-up table to the input images. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the control unit calculates a sum of squared errors (SSE) of each of the overlapping areas of the input images, and compares the calculated SSE with a predetermined threshold value. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein in the updating of the look-up table, a value of a control point that is used as a reference point so as to be warped to a predetermined coordinate system is updated. ### Claim 11 (depends on 8) The apparatus of claim 8, wherein the control unit calculates a homography by using feature point matching when the parallax problem has been occurred, and updates a look-up table of the overlapping area where the parallax problem has been occurred by using the calculated result. ### Claim 12 (depends on 8) The apparatus of claim 8, wherein the control unit performs warping for the input images to a predetermined coordinate system by applying the updated look-up table, and generates the stitched image by stitching the respective overlapping areas of the input images that are warped to the predetermined coordinate system. ### Claim 13 (depends on 11) The apparatus of claim 11, wherein the control unit updates the look-up table based on a position of a control point present adjacent to the overlapping area where the parallax problem has occurred. ### Claim 14 (depends on 8) The apparatus of claim 8, wherein the control unit divides the overlapping area into a plurality of sub-areas when the parallax problem has occurred, and updates a look-up table of the overlapping area where the parallax problem has occurred based on a difference value between pixels included in the sub-area.