KR100430528B1 - Vergence control apparatus using oversampling and variable addressing technique and method thereof, and parallel-axis stereo camera system using the same apparatus - Google Patents

Abstract

The present invention relates to an apparatus for controlling a viewing angle by oversampling and variable addressing, and a method thereof, and a parallel axis stereoscopic camera system using the same. In particular, a parallel axis stereoscopic camera system is used to capture an image using at least two fixed image sensors. Parallel axis stereoscopic imaging device for; And performing oversampling in the horizontal direction by receiving the image captured by the parallel-axis stereoscopic image capturing apparatus, and obtaining an image of a gaze-controlled region from the oversampled image to perform signal processing in the vertical direction. And a vergence control device for outputting a vergence controlled image by interpolating the size of an image photographed by the image photographing device. According to the present invention, the problem of the control of the viewing angle, which is a disadvantage of the parallel axis stereoscopic camera, can be realized in real time with almost no deterioration of image quality by using simple hardware, thereby moving horizontally using the parallel axis stereoscopic camera, which is the simplest implementation among stereoscopic cameras Like an axial stereoscopic camera, a perspective controlled image can be obtained.

Description

VERGENCE CONTROL APPARATUS USING OVERSAMPLING AND VARIABLE ADDRESSING TECHNIQUE AND METHOD THEREOF, AND PARALLEL-AXIS STEREO CAMERA SYSTEM USING THE SAME APPARATUS}

The present invention relates to a parallel axis stereoscopic camera system, and more particularly, by the simple signal processing technique for an image obtained from a parallel axis stereoscopic camera which cannot be controlled, The present invention relates to a viewing angle control device by oversampling and variable addressing, and a method thereof, and a parallel axis stereoscopic camera system using the same.

In general, a stereoscopic camera obtains images of left and right by using two cameras like the human eye, and makes the viewer feel three-dimensional by the parallax of the two images.

A parallax is a difference in the direction when the same point is seen from two viewpoints, and this parallax causes an image of a subject in a stereoscopic camera to be formed at different positions on the imaging planes of the CCD (Charge Coupled Device) of the two cameras. do. The difference in such locations is called parallax, which gives the viewer the distance information about the objects and gives a sense of depth.

The human eye moves the left and right eyes so that the parallax of the object to be observed is zero, so that the object can be observed while feeling three-dimensional comfort. Adjusting the amount of parallax is called vergence control, and when the amount of parallax of an object to be observed becomes zero, the image can be viewed most comfortably.

When the observer sees a stereoscopic image obtained from a camera that is not controlled by the angle of view, the parallax amount is very large, resulting in severe fatigue. In order to reduce such observation fatigue, it is essential to control the viewing angle of the left and right cameras so that a constant parallax is maintained regardless of a change in the position of the subject.

Stereo cameras used to obtain stereoscopic images are classified into three types: parallel axis, cross axis, and horizontal moving axis according to the arrangement of left and right image sensors.

First of all, the parallel axis stereoscopic camera is the simplest type of binocular stereoscopic camera, and is designed to acquire two images by fixing two image sensors in parallel at a distance similar to a human eye distance. However, the parallel axis method has a problem that the parallax amount cannot be adjusted according to the distance change of the subject because there is no vergence control function.

On the other hand, the cross-axis stereoscopic camera is also called a congested stereoscopic camera, it is designed to be able to control the viewing angle in accordance with the distance change of the object. The cross-axis three-dimensional camera rotates the optical axis of the image sensor according to the distance change of the object to control the viewing angle so that the image of the object is always in the center of the left and right image sensors. It mimics the eye movements of a person when gathering inward when seeing a close object and when seeing a distant object.

However, in the case of the cross-axis method, the image sensor is intersected to adjust the viewing angle, so the gap between the image sensors due to the control of the viewing angle is severe, and distortion is severe when the stereoscopic image is reproduced. There is a problem that is difficult.

On the other hand, the horizontal moving axis stereoscopic camera is a camera capable of controlling the viewing angle of the camera according to the change in the distance of the observation object, such as the cross-axis method. However, unlike the cross-axis method, after separating the lens from the image sensor, it is designed to adjust the viewing angle by moving the image sensor in parallel and horizontally with respect to the lens. Although the visual angle control method by the parallel movement of the image sensor has the advantage that the amount of change in the distance between the left and right image sensors is small, relative image distortion is smaller than that of the cross-axis method, but the lens and the image sensor are separated and the image sensor is moved. There is a problem that there is a lot of difficulty in producing a real three-dimensional camera, because you need to control the viewing angle.

Hereinafter, the movement of the CCD, which is an image sensor, and the change of position in the image of the observation object in the horizontal moving axis stereoscopic camera will be described.

1 is an example of an image change process according to the movement of the CCD in a general horizontal moving axis stereoscopic camera, Figure 1 (a) shows the position of the observation object in the image before the horizontal movement of the CCD (10, 11) , FIG. 1B illustrates the position of an object in the image after the horizontal movement of the CCDs 10 and 11.

(A) of FIG. 1 assumes a parallax of 0, and the positions of the points in the left and right images coincide, and FIG. 1 (b) shows that after the horizontal movement of the CCDs 10 and 11 is widened. It can be seen that the parallax increases by indicating the positional relationship in the left and right images.

In other words, it can be seen that widening the interval by horizontally moving the CCDs 10 and 11, which are image sensors, has the same effect as widening the rear of the camera or narrowing the front of the camera in the cross-axis method. In this case, the viewing distance is shortened and the observation has a negative horizontal disparity. Narrowing the intervals of the CCDs 10 and 11 has the opposite effect as widening the case.

In this case, in order to view a stereoscopic image, the distance between the CCDs 10 and 11 should be narrowed only to the point where the optical axis of the lenses 20 and 21 coincides with the central axis of the CCDs 10 and 11, and the viewing distance is infinite. Camera interval. The viewing distance is determined at the point where two straight lines meet by connecting the optical axes of the left and right lenses 20 and 21 and the central axes of the CCDs 10 and 11, and the optical axes of the lenses 20 and 21 and the central axes of the CCDs 10 and 11. In this case, since the two straight lines are parallel, the viewing distance is infinite.

On the other hand, in the parallel axis stereoscopic camera, the image sensor is fixed, and thus the image sensor cannot be moved as in the horizontal moving axis stereoscopic camera, and thus there is no function to adjust the viewing distance. Therefore, a method of enabling a viewing angle control by obtaining a moving effect of an image sensor by moving a position of an object through a signal processing for an image formed on an image plane through a fixed image sensor in a parallel axis stereoscopic camera is disclosed.

As described above, there is a technology for performing a vergence control through signal processing in a parallel axis stereoscopic camera, and Korean Unexamined Patent Publication No. 2000-37097, and the contents disclosed in this patent are related to images provided from a parallel axis stereoscopic camera. After calculating and removing the area of the image that will not appear due to the horizontal movement of the sensor, calculating and removing the area of the vertical image according to the ratio of the removed image area to the total image, and then removing the size of the original image for the reduced image. By interpolating at a fixed ratio in accordance with the above, it is characterized in that the same angle control effect as in the horizontal moving axis stereoscopic camera is obtained in the parallel axis stereoscopic camera.

However, according to the above method, since the final generated image is generated through low-band filtering, deterioration of the image quality occurs, and complex computation must be performed when performing horizontal / vertical processing and interpolation for a visual control effect in real time. The implementation has a problem that the hardware configuration is complicated.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to reduce information loss and achieve simple hardware by obtaining a controlled view angle through variable addressing after oversampling an input video signal. The present invention provides a vergence control device capable of processing in real time and a method thereof.

Another object of the present invention is to provide a parallel axis stereoscopic camera system using a vergence control device by oversampling and variable addressing.

1 is a diagram illustrating an image change process according to a CCD movement in a general horizontal moving axis stereoscopic camera, and FIG. 1A illustrates a position of an object in an image before horizontal movement of the CCD. b) shows the position of the observation in the image after the horizontal movement of the CCD.

FIG. 2 is a block diagram of a parallel axis stereoscopic camera system using a vergence control device by oversampling and variable addressing according to a first embodiment of the present invention.

FIG. 3 is an explanatory diagram of a vergence control process of the parallel axis stereoscopic camera system shown in FIG. 2.

4 is a flowchart of a vergence control method in a parallel axis stereoscopic camera according to a first exemplary embodiment of the present invention.

FIG. 5 is a block diagram of an apparatus for controlling a viewing angle by oversampling and variable addressing according to a second exemplary embodiment of the present invention, and a parallel axis stereoscopic camera system using the apparatus.

FIG. 6 is a diagram illustrating an image obtained by expanding a subject in a vertical direction by a vertical wide lens in the parallel-axis stereoscopic camera illustrated in FIG. 5.

FIG. 7 is an explanatory diagram illustrating a vergence control process of the parallel axis stereoscopic camera system illustrated in FIG. 5.

**** Explanation of symbols for the main parts of the drawing ****

10, 11: CCD 20, 21: lens

300, 700: parallel axis stereoscopic camera 310, 710: angle control device

302, 703: left camera 301, 704: right camera

311, 711: AD converter 312, 712: memory

313, 713: variable address generator 314: vertical direction processing means

315: vertical interpolation means 701, 702: vertical wide lens

Viewing angle control apparatus of the present invention for achieving the above object,

An apparatus for performing vergence control on an image photographed by an external camera,

An analog / digital (AD) converter for oversampling the captured image in a horizontal direction; A storage unit for storing the oversampled image by the AD converter; A variable address generator for outputting a vergence controlled image from the image stored in the storage unit; A vertical direction processor configured to receive a vergence-controlled image output from the memory and perform vertical signal processing; And a vertical interpolation unit configured to receive an image processed by the vertical signal from the vertical processing unit and interpolate to the size of the captured image.

The AD converter may perform oversampling by an amount corresponding to an area of a horizontal image that will not be controlled and displayed.

In addition, the AD converter uses a specific overclock signal, wherein the specific overclock signal corresponds to the ratio of the original image and the size of the maximum movable image by the frequency control with respect to the original clock signal. It is characterized by performing oversampling.

The apparatus for generating a variable address may determine an area of a vergence controlled image output from the memory according to a specific vergence control signal.

In addition, the vertical processing unit is an area of the vertical direction image with respect to the angle-controlled image by the ratio of the area of the image in the horizontal direction except for the area of the angle-controlled image output from the memory of the image stored in the memory. It is characterized in that to remove by calculating.

The vertical interpolation unit may enlarge an image output by being processed in a vertical direction by the vertical processing unit at a predetermined ratio in accordance with the size of the captured image.

In addition, the vergence control method of the present invention,

As a method of performing a vergence control on an image photographed by an external camera,

A first step of performing oversampling in the horizontal direction on the captured image; A second step of storing the oversampled image; Selecting an image of a gaze-controlled region from the stored image; A fourth step of receiving the selected vergence control image and performing vertical signal processing; And a fifth step of receiving the vertically processed image and interpolating the captured image to the size of the captured image.

In addition, the parallel axis stereoscopic camera system of the present invention for achieving the above object,

A parallel axis stereoscopic camera system having a vergence control function,

A parallel axis stereoscopic imaging apparatus for capturing an image using at least two fixed image sensors; And performing oversampling in a horizontal direction by receiving an image captured by the parallel axis stereoscopic image capturing apparatus, acquiring an image of a gaze-controlled region from the oversampled image, and performing signal processing in a vertical direction. And a vergence control device for outputting a vergence controlled image by interpolating the size of the image photographed by the parallel axis stereoscopic image photographing device.

In addition, the present invention provides a computer-readable recording medium in which a program consisting of instructions executable by a computer is tangibly embodied to perform the steps of a method of performing gaze control on an image captured by an external camera.

A first step of performing, by the method step, oversampling in the horizontal direction with respect to the captured image; A second step of storing the oversampled image; Selecting an image of a gaze-controlled region from the stored image; A fourth step of receiving the selected vergence control image and performing vertical signal processing; And a fifth step of receiving the vertical signal-processed image and interpolating the size of the captured image.

In addition, another vergence control device of the present invention,

An apparatus for performing vergence control on an image that is vertically enlarged and photographed by an external camera,

An analog / digital (AD) converter for performing oversampling in a horizontal direction with respect to the vertically magnified image; A storage unit for storing the oversampled image by the AD converter; And a variable address generator for outputting a visually controlled image from the image stored in the storage.

In addition, another parallel axis stereoscopic camera system of the present invention,

A parallel axis stereoscopic camera system having a vergence control function,

A parallel-axis stereoscopic imaging apparatus for capturing an image enlarged vertically compared to an original image by using at least two fixed image sensors and a vertical wide lens attached to the front of the image sensor; And a vertical angle control device that receives the vertically enlarged image output from the parallel axis stereoscopic image capturing apparatus and performs oversampling in a horizontal direction, and obtains and outputs an image of a viewing angle controlled area from the oversampled image. It includes.

The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a block diagram of a parallel axis stereoscopic camera system using a vergence control device by oversampling and variable addressing according to a first embodiment of the present invention.

As shown in FIG. 2, the parallel axis stereoscopic camera system according to the first embodiment of the present invention includes a parallel axis stereoscopic camera 300 and a viewing angle control device 310.

The parallel axis stereoscopic camera 300 has an image sensor for capturing an image and outputting a corresponding image signal, for example, a left camera 301 and a right camera 302 each including a CCD, and these left and right cameras 301 and 302. The captured image is provided to the vergence control device 310.

The vergence controller 310 outputs a vergence controlled image by performing oversampling and variable addressing on the image signal output from the parallel axis stereoscopic camera 300.

The vergence control device 310 includes an AD converter 311 for oversampling the left and right images provided from the parallel-axis stereoscopic camera 300, and a memory 312 for storing the image oversampled by the AD converter 311. ), A variable address generator 313 for reading a vergence-controlled image from an image stored in the memory 312 according to variable addressing, and for processing a vertical signal in an image that is controlled by the vergence in the memory 312. And a vertical interpolation means 315 for receiving the image processed by the vertical signal from the vertical processing means 314 and the vertical processing means 314 and interpolating to the original size.

Hereinafter, the operation of the gaze control device 310 will be described in detail.

The video signal generated from the parallel axis stereoscopic camera 300 is oversampled in the horizontal direction using the overclock signal in the AD converter 311 to acquire more image data as much as the area to be moved by the vergence control, and then memory. Stored at 312. By oversampling in the horizontal direction, the horizontal size of the image is controlled more than the original, and the amount of the image to be moved is increased. At this time, the ratio of the frequency of the overclock signal to be oversampled and the original clock signal is controlled at a time so that the size of the maximum movable image and the ratio of the original image are adjusted.

The variable address generator 313 generates the address data corresponding to the area controlled by the input of the control angle of the vergence in accordance with a specific control angle of the control signal, thereby outputting an image which is controlled by the angle of view in the memory 312. At this time, the vergence control signal may be a manual input by a user of the parallel stereoscopic camera system or an automatic input by a processor (not shown) that performs overall control of the parallel stereoscopic camera system.

As a result, since information is over-sampled from the image signal output from the parallel-axis stereoscopic camera 300 and cut out from the data generated more in the horizontal direction, the unnecessary area is cut out so that there is almost no information loss. Therefore, image quality is not significantly affected, and it can be implemented with simple hardware without the need for a horizontal image processing processor.

Meanwhile, the image output from the memory 312 by the variable address generator 313 slightly distorts the horizontal / vertical ratio of the object. In other words, the objects in the image are slightly enlarged in the horizontal direction. The vertical direction processing means 314 for correcting this, if necessary, removes the lines in the vertical direction by the ratio removed in the horizontal direction by the vergence control. At this time, the vertical image area to be removed is removed 1/2 each from the upper side and the lower side.

The image reduced by the vertical direction processing means 314 is enlarged at a constant rate in accordance with the size of the original image while passing through the vertical interpolation means 315. The obtained image is enlarged in size of the subject compared with the original image. The movement of the CCD results in an image in which the subject is moved, that is, an image in which the viewing angle is controlled.

FIG. 3 is an explanatory diagram of a vergence control process of the parallel axis stereoscopic camera system shown in FIG. 2.

3A is an image captured and output by the parallel axis stereoscopic camera 300, and FIG. 3B is an image that is oversampled in the horizontal direction by the AD converter 311 and stored in the memory 312. Indicates.

FIG. 3C shows data read from the memory 312 according to the variable addressing of the variable address generator 313. The hatched portion A is not substantially read from the memory 312 so that the image A is output from the memory 312 as shown in FIG. At this time, the position of the object located in the center of the left and right images appears to have been moved inward, that is, relatively left and right.

On the other hand, by oversampling only in the horizontal direction by the AD converter 311, distortion occurs slightly because the vertical / horizontal ratio of objects in the image of FIG. To compensate for this, FIG. 3E illustrates a process in which the region removed in the horizontal direction is removed in the vertical direction by the vertical direction processing means 314 as much as the region before the region is enlarged. Here, the hatched portions B and C show an image in which the vertical processing means 314 is removed up and down.

As such, when the vertical interpolation means 315 is interpolated and enlarged so that the horizontal / vertical ratio is the same, a slight image magnification effect is displayed on the subject as shown in FIG. The horizontal / vertical ratio of the image is maintained as the original image, and as a result, the viewing angle is controlled like a horizontal moving stereoscopic camera.

As described above, according to the first embodiment of the present invention, deterioration of image quality is hardly caused by oversampling in the horizontal direction, and deterioration of image quality due to low band filtering occurs somewhat in vertical line interpolation. The amount of CCD movement in the camera is not large and the vertical direction is less sensitive to changes in the human eye, so there is almost no deterioration in image quality.

4 is a flowchart of a vergence control method in a parallel axis stereoscopic camera according to a first exemplary embodiment of the present invention.

Referring to FIG. 4, first, the AD converter 311 receives an image photographed by the parallel axis stereoscopic camera 300 and oversamples the image photographed in the horizontal direction to store it in the memory 312 (S510). Thereafter, the variable address generator 313 generates a gaze-controlled address with respect to an image stored in the memory 312 according to the gaze-control signal, and outputs a gaze-controlled image from the memory 312 (S511). .

Next, the vertical direction processing means 314 performs vertical signal processing on the horizontally controlled image in the horizontal direction (S512). Thereafter, the vertical interpolation means 315 interpolates in the vertical direction so that the horizontal / vertical ratio of the object is the same as the original image with respect to the image output from the vertical direction processing means 314 (S513).

On the other hand, the vergence control method according to the first embodiment of the present invention as described above is implemented as a program in a computer-readable form of a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) Can be stored in.

Next, a second embodiment of the present invention will be described.

FIG. 5 is a block diagram of an apparatus for controlling visual angle by oversampling and variable addressing and a parallel axis stereoscopic camera system using the apparatus according to the second exemplary embodiment of the present invention.

As shown in FIG. 5, the parallel axis stereoscopic camera according to the second embodiment of the present invention includes a parallel axis stereoscopic camera 700 and a viewing angle control device 710.

The parallel axis stereoscopic camera 300 captures an image and outputs a corresponding image signal, for example, a left camera 703 and a right camera 704 each including a CCD and left and right cameras 703 and 704. Vertical wide lenses 701 and 702 attached to the front and vertically enlarged images are acquired.

The images captured by the left and right cameras 301 and 302 to which the vertical wide lenses 701 and 702 are attached are provided to the vergence controller 710 as an image in which the subject is enlarged in the vertical direction.

The vergence control device 710 includes an AD converter 711 for oversampling an image provided from the parallel axis stereoscopic camera 700, a memory 712 for storing an image that is oversampled by the AD converter 711, And a variable address generator 713 for reading a vergence controlled image from an image stored in the memory 712 according to variable addressing.

Hereinafter, the operation of the gaze control device 710 will be described in detail.

First, the parallel axis stereoscopic camera 700 outputs an image in which a subject is enlarged in the vertical direction as shown in FIG. 6 by attaching a vertical wide lens 701.

After the image signal generated from the parallel axis stereoscopic camera 700 is oversampled in the horizontal direction by using the overclock signal in the AD converter 711 in order to acquire more image data as much as the area to be moved maximum by the vergence control. Stored in memory 712.

By oversampling in the horizontal direction, the horizontal size of the image is controlled more than the original, so that the maximum amount of movement is increased. At this time, the frequency ratio between the overclock signal to be oversampled and the original clock signal is controlled at a time so that the size of the maximum movable image and the ratio of the original image are adjusted.

The variable address generator 713 generates the address data corresponding to the area controlled by the vergence control signal input to output the vergence controlled and moved image in the memory 712. At this time, the vergence control signal may be a manual input by a user of the parallel axis stereoscopic camera system or an automatic input by a processor (not shown) that performs overall control of the parallel axis stereoscopic camera system.

As a result, since information is over-sampled from the image signal output from the parallel-axis stereoscopic camera 700 and cut out from the data generated in the horizontal direction, the unnecessary area is cut out so that there is almost no information loss. Therefore, image quality is not significantly affected, and it can be implemented with simple hardware without the need for a horizontal image processing processor.

On the other hand, the image output from the memory 712 by the variable address generator 713 has the effect of being enlarged in the horizontal direction by oversampling, but in the second embodiment of the present invention, the vertical axis in the parallel axis stereoscopic camera 700 Since the images enlarged in the vertical direction in advance by the wide lenses 701 and 702 are obtained, there is no distortion in the horizontal / vertical of the object. Thus, as in the first embodiment of the present invention shown in FIG. 2, there is no need for a portion, ie hardware / software, for vertical direction processing on horizontally / vertically distorted images by oversampling.

FIG. 7 is an explanatory diagram illustrating a vergence control process of the parallel axis stereoscopic camera system illustrated in FIG. 5.

FIG. 7A is an image captured and output by the parallel axis stereoscopic camera 700 having the vertical wide lenses 701 and 702, and FIG. 7B is a horizontal direction by the AD converter 711. FIG. The image is oversampled and stored in the memory 712.

FIG. 7C shows data read from the memory 712 in accordance with variable addressing of the variable address generator 713. Here, the hatched portion D is not substantially read from the memory 712 so that the image is output from the memory 712 as shown in FIG. At this time, the position of the object located in the center of the left and right images appears to have been moved inward, that is, relatively left and right. In addition, there is a slight image magnification effect, but the horizontal / vertical ratio of the image is maintained as the original image, and as a result, the viewing angle is controlled like the horizontal moving axis stereoscopic camera.

As described above, according to the second embodiment of the present invention, deterioration of image quality is hardly caused by oversampling in the horizontal direction, and deterioration of image quality occurs by not performing signal processing such as low band filtering in the vertical direction. I never do that.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes are possible in the art without departing from the technical spirit of the present invention. It will be clear to those of ordinary knowledge.

According to the present invention, the problem of the control of the viewing angle, which is a disadvantage of the parallel axis stereoscopic camera, can be realized in real time with almost no deterioration of image quality by using simple hardware, thereby moving horizontally using the parallel axis stereoscopic camera, which is the simplest implementation among the stereoscopic cameras. Like an axial stereoscopic camera, a perspective controlled image can be obtained.

Claims (18)

In the device for performing the vergence control on the image photographed by an external camera, An analog / digital (AD) converter for oversampling the captured image in a horizontal direction; A storage unit for storing the oversampled image by the AD converter; A variable address generator for outputting a vergence controlled image from the image stored in the storage unit; A vertical direction processor configured to receive a vergence-controlled image output from the memory and perform vertical signal processing; And The vertical interpolation unit for receiving the image signal processed in the vertical direction from the vertical direction processing unit and interpolating to the size of the captured image. Penetration control device comprising a. The method of claim 1, The AD converter, And oversampling by an amount corresponding to an area of a horizontal image that is not to be controlled and displayed. The method of claim 2, The AD converter, Performing oversampling using a particular overclock signal, where the specific overclock signal has a frequency ratio from the original clock signal being controlled at a visual angle to match the size of the maximum movable image and the ratio of the original image. Penetration control device characterized in that. The method of claim 1, The variable address generator, And determining a region of a vergence controlled image output from the memory according to a specific vergence control signal. The method of claim 1, The vertical direction processing unit, The area of the vertical direction image is calculated and removed from the horizontally controlled image as much as the ratio of the area of the horizontal image except for the area of the horizontally controlled image output from the memory among the images stored in the memory. Angle controller. The method according to any one of claims 1 to 5, The vertical interpolation unit, And a magnification control device for expanding an image output by being processed in a vertical direction by the vertical direction processing unit at a predetermined ratio according to the size of the captured image. In the method for performing a vergence control on an image captured by an external camera, A first step of performing oversampling in the horizontal direction on the captured image; A second step of storing the oversampled image; Selecting an image of a gaze-controlled region from the stored image; A fourth step of receiving the selected vergence control image and performing vertical signal processing; And A fifth step of receiving the image processed in the vertical direction and interpolating to the size of the captured image; Vertex control method comprising a. The method of claim 7, wherein The first step, And oversampling by an amount corresponding to an area of a horizontal image that is not to be controlled and displayed. The method of claim 8, The first step is Performing oversampling using a particular overclock signal, where the specific overclock signal has a frequency ratio from the original clock signal being controlled at a visual angle to match the size of the maximum movable image and the ratio of the original image. Penetration control method characterized in that. The method of claim 7, wherein The third step, And a region of the image to be controlled in accordance with a user input. The method of claim 7, wherein The fourth step, A viewing angle, wherein the area of the vertical image is calculated and removed from the stored angle-controlled image as much as the ratio of the area of the horizontal image except for the output-view-controlled image of the stored image. Control method. The method according to any one of claims 7 to 11, The fifth step, And a magnification control method for expanding the output image processed by the vertical signal at a predetermined ratio according to the size of the captured image. In a parallel axis stereoscopic camera system having a vergence control function, A parallel axis stereoscopic imaging apparatus for capturing an image using at least two fixed image sensors; And The image captured by the parallel-axis stereoscopic image capturing apparatus is input to perform oversampling in a horizontal direction, and an image of a gaze-controlled region is acquired from the oversampled image to perform vertical signal processing, and then the parallel Vergence control device which outputs a vergence controlled image by interpolating the size of the image photographed by the axial stereoscopic imaging device Parallel axis stereoscopic camera system comprising a. The method of claim 13, The vergence control device, An analog-to-digital (AD) converter that performs oversampling in a horizontal direction with respect to an image captured by the parallel-axis stereoscopic imaging apparatus; A storage unit for storing the oversampled image by the AD converter; A variable address generator for outputting a visually controlled image from the image stored in the storage; A vertical direction processor configured to receive a vergence-controlled image output from the memory and perform vertical signal processing; And The vertical interpolation unit for receiving the image signal processed in the vertical direction from the vertical direction processing unit and interpolating to the size of the captured image. Parallel axis stereoscopic camera system comprising a. A computer-readable recording medium in which a program consisting of instructions executable by a computer is tangibly embodied to perform steps of a method of performing gaze control on an image photographed by an external camera. The method step, A first step of performing oversampling in the horizontal direction on the captured image; A second step of storing the oversampled image; Selecting an image of a gaze-controlled region from the stored image; A fourth step of receiving the selected vergence control image and performing vertical signal processing; And A fifth step of receiving the image processed in the vertical direction and interpolating to the size of the captured image; Computer-readable recording medium comprising a. In the device for performing the vergence control on the image is enlarged vertically compared to the original image by an external camera, An analog / digital (AD) converter for performing oversampling in a horizontal direction with respect to the vertically magnified image; A storage unit for storing the oversampled image by the AD converter; And A variable address generator for outputting a vergence controlled image from the image stored in the storage unit Penetration control device comprising a. In a parallel axis stereoscopic camera system having a vergence control function, A parallel-axis stereoscopic imaging apparatus for capturing an image enlarged vertically compared to an original image by using at least two fixed image sensors and a vertical wide lens attached to the front of the image sensor; And A vergence control device which receives the vertically enlarged image output from the parallel axis stereoscopic image capturing apparatus and performs oversampling in a horizontal direction, and acquires and outputs an image of a vergence controlled area from the oversampled image. Parallel axis stereoscopic camera system comprising a. The method of claim 17, The vergence control device, An analog / digital (AD) converter for performing oversampling in a horizontal direction with respect to the vertically magnified image; A storage unit for storing the oversampled image by the AD converter; And A variable address generator for outputting a vergence controlled image from the image stored in the storage unit Parallel axis stereoscopic camera system comprising a.