• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.2
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• pp.185-190
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• 2016

This paper deals with analysis of the characteristics of mobile robot's motion by automatic detection of markers on a robot using a camera. Analysis of motion behaviors according to parameters is important in developing control algorithm for robot operation or autonomous navigation. For this purpose, we use four chessboard patterns on the robot. Their location on the robot is adjusted to be on single plane. Homography is used to compute the actual amount of movement of the robot. Presented method is tested using P3-AT robot and it gives reliable results.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.11
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• pp.1131-1135
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• 2010

This paper presents a method to capture the posture of the human lower-limbs on the 3D space by using a single camera and a planar mirror. The system estimates the pose of the camera facing the mirror by using four coplanar IR markers attached on the planar mirror. After that, the training space is set up based on the relationship between the mirror and the camera. When a patient steps on the weight board, the system obtains relative position between patients' feet. The markers are attached on the sides of both legs, so that some markers are invisible from the camera due to the self-occlusion. The reflections of the markers on the mirror can partially resolve the above problem with a single camera system. The 3D positions of the markers are estimated by using the geometric information of the camera on the training space. Finally the system estimates and visualizes the posture and motion of the both legs based on the 3D marker positions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.621-624
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• 2011

Recently, augmented reality is divided into broadly marker based and markerless based as part of HCI (Human Computer Interaction). Markerless based is augmented object using natural features in real-world environment. On the other hand, Marker based is use to calculate easily the coordinates and exactly augmented object using flat marker of rectangular. However, marker-based image is provided due to the presence of the marker in a markerless, giving users a more less realistic and immersive view. In this paper, We research about combined diminished reality and augmented reality for Marker-Based Augmented Reality System Structure using Object Removal Tchnique in order to increase realistic and immersive view.

• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.272-277
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• 2010

AR(Augmented Reality) needs medium between real and virtual, world, and recognition techniques are necessary to track an object continuously. Optical tracking using marker is mainly used, but it takes time and is inconvenient to attach marker onto the target objects. Therefore, many researchers try to develop markerless tracking techniques nowaday. In this paper, we extract features and 3D position from 3D objects and suggest realtime tracking based on these features and positions, which do not use just coplanar features and 2D position. We extract features using SURF, get rotation matrix and translation vector of 3D object using POSIT with these features and track the object in real time. If the extracted features are nor enough and it fail to track the object, then new features are extracted and re-matched to recover the tracking. Also, we get rotation in matrix and translation vector of 3D object using POSIT and track the object in real time.

• Journal of radiological science and technology
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• v.39 no.4
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• pp.601-606
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• 2016

Because of non-coplanar therapy with couch rotation in respiratory gated radiation therapy, the recognition of marker movement due to the change in the distance between the infrared camera and the marker due to the rotation of the couch is called RPM (Real-time The purpose of this paper is to evaluate the accuracy of motion reflections (baseline changes) of 2D gating configuration (two dot marker block) and 3D gating configuration (six dot marker block). The motion was measured by varying the couch angle in the clockwise and counterclockwise directions by $10^{\circ}$ in the 2D gating configuration. In the 3D gating configuration, the couch angle was changed by $10^{\circ}$ in the clockwise direction and compared with the baseline at the reference $0^{\circ}$. The reference amplitude was 1.173 to 1.165, the couch angle at $20^{\circ}$ was 1.132, and the couch angle at $1.0^{\circ}$ was 1.083. At $350^{\circ}$ counterclockwise, the reference amplitude was 1.168 to 1.157, the couch angle at $340^{\circ}$ was 1.124, and the couch angle at $330^{\circ}$ was 1.079. In this study, the phantom is used to quantitatively evaluate the value of the amplitude according to couch change.

• Journal of Digital Contents Society
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• v.1 no.1
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• pp.53-64
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• 2000

This paper is related to color image segmentation scheme which makes it possible to achieve the excellent segmented results by block-based segmentation using Y/C bit-plane summation image. First, normalized chrominance summation image is obtained by normalizing the image which is summed up the absolutes of color-differential values between R, G, B images. Secondly, upper 2 bits of the luminance image and upper 6bits of and the normalized chrominance summation image are bitwise operated by the pixel to generate the Y/C bit-plane summation image. Next, the Y/C bit-plane summation image divided into predetermined block size, is classified into monotone blocks, texture blocks and edge blocks, and then each classified block is merged to the regions including one more blocks in the individual block type, and each region is selectively allocated to unique marker according to predetermined marker allocation rules. Finally, fine segmented results are obtained by applying the watershed algorithm to each pixel in the unmarked blocks. As shown in computer simulation, the main advantage of the proposed method is that it suppresses the over-segmentation in the texture regions and reduces computational load. Furthermore, it is able to apply global parameters to various images with different pixel distribution properties because they are nonsensitive for pixel distribution. Especially, the proposed method offers reasonable segmentation results in edge areas with lower contrast owing to the regional characteristics of the color components reflected in the Y/C bit-plane summation image.

• Journal of the Korea Society of Computer and Information
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• v.16 no.6
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• pp.79-88
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• 2011

In this paper, We propose real-time sound editing and playback systems which is based on Augmented Reality. The proposed system are composed with music maker which is based on AR maker and music board. By using music marker's contents, the proposed system selects the kinds of musical instruments and pre-defined midi track and by calculating the relative location of music marker on 2-dimensional plane, we set the spatial relative parameter in midi track. For performance evaluation, we check the jitter value of in various resolutions by using CAM which supports $1600{\pm}1200$ as the maximum resolution. As a result, when we set the configuration value of CAM as $860{\pm}600$ pixels and process two frames per minute, the success ratio of recognizing music markers and jitter values are accegnable. It can be utilized in the fields of alternative cmacine which is based on music and also be utilized in the educational aspects because child or elderly who don't know enough musical theory can easily handle it.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.4
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• pp.49-58
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• 2011

Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. The traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D features to its feature map, and these then provide registration even when the reference map is out of the sensing range. In this paper, we describe a real-time camera tracking framework specifically designed to track a monocular camera in a desktop workspace. Basic idea of the proposed scheme is that a real-time camera tracking is achieved on the basis of a plane tracking algorithm. Also we suggest a method for re-detecting features to maintain registration of virtual objects. The proposed method can cope with the problem that the features cannot be tracked, when they go out of the sensing range. The main advantage of the proposed system are not only low computational cost but also convenient. It can be applicable to an augmented reality system for mobile computing environment.

• The Journal of the Korea Contents Association
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• v.10 no.5
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• pp.20-28
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• 2010

In this paper, we propose a hand gesture interface for the manipulation of augmented objects in 3D space using a camera. Generally a marker is used for the detection of 3D movement in 2D images. However marker based system has obvious defects since markers are always to be included in the image or we need additional equipments for controling objects, which results in reduced immersion. To overcome this problem, we replace marker by planar hand shape by estimating the hand pose. Kalman filter is for robust tracking of the hand shape. The experimental result indicates the feasibility of the proposed algorithm for hand based AR interfaces.

• Journal of Korea Multimedia Society
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• v.15 no.4
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• pp.425-438
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• 2012

In this paper, We propose Augmented Reality (AR) System for the interaction between user's hand motion and virtual object motion based on computer vision. The previous AR system provides inconvenience to user because the users have to control the marker and the sensor like a tracker. We solved the problem through hand motion and provide the convenience to the user. Also the motion of virtual object using a physical phenomenon gives a reality. The proposed system obtains geometrical information by the marker and hand. The system environments like virtual space of moving virtual ball and bricks are made by using the geometrical information and user's hand motion is obtained from the hand's information with extracted feature point through the taping hand. And it registers a virtual plane stably by getting movement of the feature points. The movement of the virtual ball basically is parabolic motion with a parabolic equation. When the collision occurs either the planes or the bricks, we show movement of the virtual ball with ball position and normal vector of plane and the ball position is faulted. So we showed corrected ball position through experiment. and we proved that this system can replaced the marker system to compare to jitter of augmented virtual object and progress speed with it.