• ETRI Journal
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• 제44권1호
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• pp.10-23
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• 2022

Despite the significant progress in camera pose estimation and structure-from-motion reconstruction from unstructured images, methods that exploit a priori information on camera arrangements have been overlooked. Conventional state-of-the-art methods do not exploit the geometric structure to recover accurate camera poses from a set of patch images in an array for mosaic-based imaging that creates a wide field-of-view image by sewing together a collection of regular images. We propose a camera pose estimation framework that exploits the array-structured image settings in each incremental reconstruction step. It consists of the two-way registration, the 3D point outlier elimination and the bundle adjustment with a constraint term for consistent rotation vectors to reduce reprojection errors during optimization. We demonstrate that by using individual images' connected structures at different camera pose estimation steps, we can estimate camera poses more accurately from all structured mosaic-based image sets, including omnidirectional scenes.

• 국제학술발표논문집
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• The 3th International Conference on Construction Engineering and Project Management
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• pp.1113-1116
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• 2009

The attempt to use a 3D model each field such as design, structure, construction, facilities, and estimation in the construction project has recently increased more and more while BIM (Building Information Modeling) that manages the process of generating and managing building data has risen during life cycle of a construction project. While the 2D Drawing based work of each field is achieved in the already existing construction project, the BIM based construction project aims at accomplishing 3D model based work of each field efficiently. Accordingly, the solution that fits 3D model based work of each field and supports plans in order to efficiently accomplish the relevant work is demanded. The estimation, one of the fields of the construction project, has applied BIM to calculate quantity and cost of the building materials used to construction works after taking off building quantity information from the 3D model by a item for a Quantity Take-off grouping the materials relevant to a 3D object. A 3D based estimation program has been commonly used in abroad advanced countries using BIM. The program can only calculate quantity related to one 3D object. In other words, it doesn't support the take-off process considering quantity of a contiguous object. In case of temporary materials used in the frame construction, there are instances where quantity is different by the contiguous object. For example, the formwork of the temporary materials quantity is changed by dimensions of the contiguous object because formwork of temporary materials goes through the quantity take-off process that deduces quantity of the connected object when different objects are connected. A worker can compulsorily adjust quantity so as to recognize the different object connected to the contiguous object and deduces quantity, but it mainly causes the confusion of work because it must complexly consider quantity of other materials related to the object besides. Therefore, this study is to propose the solution that automates the formwork 3D modeling to efficiently accomplish the quantity take-off of formwork by preventing the confusion of the work which is caused by the quantity deduction process between the contiguous object and the connected object.

• 한국산학기술학회논문지
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• 제18권12호
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• pp.200-207
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• 2017

3D 프린팅은 기존 산업에 큰 변화를 일으키고 있으며 건설 분야에도 적용되기 시작하고 있다. 3D 프린팅 건설은 기존 공사 기법과는 차이가 있으므로 새로운 공사 프로세스 개발이 필요하다. 특히 정확한 공사기간 산정은 프로젝트의 성공적인 수행과 직결되어 있으므로 3D 프린팅 건설에 대한 공사기간 산정 기법 개발이 필요하다. 본 연구에서는 향후 3D 프린팅이 건설에 도입되는 것을 대비하기 위해 3D 프린팅 건설 프로세스 및 공사기간 산정 방식을 도출한다. 연구의 대상은 콘크리트 타설이 가능한 3D 프린팅 장비로 가정하였으며, 골조공사로 한정 한다. 도출된 프로세스 별로 유사한 건축 표준 품셈을 참고하여 3D 프린팅 공사기간을 산정한다. 개발된 공사 기간 산정 방식은 가상의 테스트 모델에 적용되었다. 테스트 모델 적용 결과 기존 공사 기법 대비 약 절반 가량 공사 기간이 단축되는 것을 알 수 있다. 본 연구에서 개발된 공사기간 산정 방식은 향후 3D 프린팅 건설에 적용되어 사업 계획 수립에 도움이 될 수 있다.

• 센서학회지
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• 제32권5호
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• pp.300-306
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• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권2호
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• pp.800-816
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• 2018

In recent years, video surveillance research has been able to recognize various behaviors of pedestrians and analyze the overall situation of objects by combining image analysis technology and deep learning method. Human Activity Recognition (HAR), which is important issue in video surveillance research, is a field to detect abnormal behavior of pedestrians in CCTV environment. In order to recognize human behavior, it is necessary to detect the human in the image and to estimate the pose from the detected human. In this paper, we propose a novel approach for 2D Human Pose Estimation based on object detection using RGB-D information. By adding depth information to the RGB information that has some limitation in detecting object due to lack of topological information, we can improve the detecting accuracy. Subsequently, the rescaled region of the detected object is applied to ConVol.utional Pose Machines (CPM) which is a sequential prediction structure based on ConVol.utional Neural Network. We utilize CPM to generate belief maps to predict the positions of keypoint representing human body parts and to estimate human pose by detecting 14 key body points. From the experimental results, we can prove that the proposed method detects target objects robustly in occlusion. It is also possible to perform 2D human pose estimation by providing an accurately detected region as an input of the CPM. As for the future work, we will estimate the 3D human pose by mapping the 2D coordinate information on the body part onto the 3D space. Consequently, we can provide useful human behavior information in the research of HAR.

• 멤브레인
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• 제26권3호
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• pp.187-196
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• 2016

최근 정삼투(FO) 공정의 성능향상을 위해 유입수에 낮은 수압을 가하는 가압형 정삼투(PAFO) 공정이 관심을 받고 있다. Structure parameter는 FO 및 PAFO 공정 운전시 유도용질의 확산 저항성(Solute resistivity)을 결정하며, 이는 Solution-diffusion model (S-D model)을 통한 수투과 및 염투과 성능 예측을 지배하는 인자 중에 하나이다. 본 연구는 S-D model을 이용하여 가압형 정삼투시 유입수 측에 가해지는 압력에 따른 Structure parameter 변화 양상을 예측하고자 하였다.

• 한국BIM학회 논문집
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• 제3권4호
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• pp.11-18
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• 2013

Modular technology has become a major issue of the construction industries to enhance their productivity. Modular bridge construction generally requires the collaboration between the contractor, designer, fabricator and constructor. Therefore, a readily accessible information model based on BIM technology should be provided for their communication during a construction project life-cycle. In this study, BIM based 3D information modeling was carried out for the modular bridge pier. First, the product breakdown structure (PBS) and level of detail (LOD) of the pier were defined. Based on them, 3D models were created by using parametric modeling method. In addition, database was constructed for the exchange of geometry and property data of 3D models. Finally, application areas of 3D information model were suggested, including the quantity estimation and the 4D simulation.

• 대한전자공학회논문지
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• 제26권11호
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• pp.1850-1856
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• 1989

For determining motion/structure of a 3-D rigid object from point correspondences over two perspective views, a linear algorithm was developed in Refs. 3 and 4. This algorithm fails when the 3-D points under observation satisfy certain geometrical constraints, as demonstrated in Refs. 7 and 8. In the present paper, we show that the linear algorithm can be resurrected in these degenerate cases by adding additional lower order polynomial constraints to original equations.

• 한국해안·해양공학회논문집
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• 제20권2호
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• pp.184-193
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• 2008

아산호 상류지역의 도시화 진행과 이상 기후 등에 따른 강수량 증가로 아산만 방조제 배수갑문 확장의 필요성이 제기됨에 따라 배수갑문 확장으로 인한 방류량 증가가 아산만 및 주변 해역에 미치는 영향을 수리모형실험과 범용 수치모의 코드인 Delft3D, FLOW-3D를 이용하여 검토하였다. 그 결과 아산만 방조제 배수갑문확장에 의한 영향은 미흡한 것으로 확인되었다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권2호
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• pp.198-208
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• 2016

The painting process of large ships is an intense manual operation that typically comprises 9-12% of the total shipbuilding cost. Accordingly, shipbuilders need to estimate the required amount of anti-corrosive coatings and painting resources for inventory and cost control. This study aims to develop a software system which enables the shipbuilders to estimate paint area using existing 3D CAD ship structural models. The geometric information of the ships structure are extracted from the existing shipbuilding CAD/CAM system and used to create painting zones. After specifying the painting zones, users can generate the paint faces by clipping structural parts inside each zone. Finally, the paint resources may be obtained from the product of the paint areas and required paint thickness. Implementing the developed software system to real shipbuilders' operations has contributed to improved productivity, faster resource estimation, better accuracy, and fewer coating defects over their conventional manual calculation methods for painting resource estimation.