• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.5
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• pp.78-87
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• 1999

3차원 물체 인식은 학습에 의해서 구성된 모델베이스를 이용하여 주어진 입력 영상에 존재하는 한 개 혹은 여러 개의 물체를 구별하는 과정이다. 본 논문에서는 입력 거리 정보를 받아들여 이 정보로부터 보이는 각 면에 대한 특징을 추출해낸 후 이 특징들을 입력 영상에 존재하는 물체를 묘사하는 특징으로 사용하여 이로부터 모델을 결정하는 방법을 제시한다. 영상 분할된 입력 물체는 그래프로 표현되는데, 물체 인식은 입력 물체의 그래프를 모델 베이스의 각 모델의 그래프와 정합하는 고정에서 얻어진다. 제한 조건은 만족시키는 정합을 수행하기 위하여 mean field annealing (MFA) 신경 회로망을 사용하였으며 가려진 물체 인식을 수행할 수 있는 정합을 위해 에너지 함수를 제안하였다. 제안한 알고리듬의 효용성을 입증하기 위하여 가려짐의 정도를 다르게 한 합성영상에 대해서 모의 실험을 하였다.

• The KIPS Transactions:PartB
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• v.17B no.4
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• pp.287-294
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• 2010

TOF technique is one of the skills that can obtain the object's 3D depth information. But depth image has low resolution and fingertip occupy very small region, so, it is difficult to find the precise fingertip's 3D information by only using depth image from TOF camera. In this paper, we estimate fingertip's 3D location using Arm Model and reliable hand's 3D location information that is modified by hexahedron as hand model. Using proposed method we can obtain more precise fingertip's 3D information than using only depth image.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1931-1932
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• 2006

로봇이 어떤 물체를 인지하고 그 물체에 대해 어떤 작업을 하고자 할 때 특정 물체의 인식 문제, 3차원 정보를 획득하는 문제, 자세를 추정하는 문제 등 해결해야 될 문제들이 있다. 물체를 인식하는 과정에서는 주위 배경과 물체의 크기의 변화, 회전, 가려짐 등으로 인해 물체 인식을 어렵게 만드는 요소들이 있다. 2차원 이미지를 통해 3차원 정보를 추출하는 과정은 일반적으로 두 대의 카메라를 이용하여 스테레오 이미지를 통해 얻는다. 이 때 좌우 영상간의 매칭의 과정이 필요하다. 자세 추정의 문제는 카메라 좌표와 물체의 좌표간의 관계를 알아야 한다. Visual Servoing을 어렵게 만드는 많은 요인들이 있으며 본 논문에서는 물체의 크기, 회전, 이동에 불변인 디스크립터(descriptor)를 사용하는 SIFT(Scale Invariant Feature Transform)를 통해 3차원 물체의 인식과 자세를 추정하는 방법을 제시한다. 또한 자세 추정을 위해 2차원 Keypoint들의 매칭을 3차원 정보를 통해 검증하는 방법을 제시한다. (SIFT에 의해 추출된 point를 Keypoint라 명한다.)

• Journal of Korea Multimedia Society
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• v.1 no.1
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• pp.26-36
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• 1998

It is very important study field in computer vision 'How we obtain 3D information from 2D image'. For this purpose, we must know position of camera, direction of light source, and surface reflectance property before we take the image, which are intrinsic information of the object in the scene. Among them, surface reflectance property presents very important clues. Most previous researches assume that objects have only Lambertian reflectance, but many real world objects have Non-Lambertian reflectance property. In this paper the new method for analyzing the properties of surface reflectance and reconstructing the shape of object through estimation of reflectance parameters is proposed. We have interest in Non-Lambertian reflectance surface that has specular reflection and diffuse reflection which can be explained by Torrance-Sparrow model. Photometric matching method proposed in this paper is robust method because it match reference image and object image considering the neighbor brightness distribution. Also in this thesis, the neural network based shaped reconstruction method is proposed, which can be performed in the absence of reflectance information. When brightness obtained by each light is inputted, neural network is trained by surface normal and can determine the surface shape of object.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.2 s.314
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• pp.144-152
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• 2007

We propose a 3D modeling method for surface inspection of non-linear moving object. The laser lines reflect the surface curvature. We can acquire 3D surface information by analyzing projected laser lines on object. ill this paper, we use multi-line laser to make use of robust of single stripe method and high speed of single frame. Binarization and channel edge extraction method were used for robust laser line extraction. A new labeling method was used for laser line labeling. We acquired sink information between each 3D reconstructed frame by feature point matching, and registered each frame to one whole image. We verified the superiority of proposed method by applying it to container damage inspection system.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.10
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• pp.116-122
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• 2016

This paper proposes a practical object shape reconstruction method using an underwater imaging sonar. In order to reconstruct the object shape, three methods are utilized. Firstly, the vertical field of view of imaging sonar is modified to narrow angle to reduce an uncertainty of estimated 3D position. The wide vertical field of view makes the incorrect estimation result about the 3D position of the underwater object. Secondly, simple noise filtering and range detection methods are designed to extract a distance from the sonar image. Lastly, a low pass filter is adopted to estimate a probability of voxel occupancy. To demonstrate the proposed methods, object shape reconstruction for three sample objects was performed in a basin and results are explained.

• Proceedings of the Korea Information Processing Society Conference
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• 2000.04a
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• pp.1037-1041
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• 2000

본 논문에서는 웨이블릿 변환을 이용하여 추정된 변위 벡터와 이를 이용한 물체의 분할을 통해 특징 점을 추출하고 3차원 와이어 프레임(wire-frame)을 생성하는 알고리즘을 제안한다. 우선, 웨이블릿 변환을 이용하여 빠른 시간 안에 변위를 측정하고, 이를 통해 배경과 물체를 분리해 내었다. 그런 뒤에, 변위 벡터를 이용하여, 깊이 정보를 추정해 내고, 동시에 물체로부터 두드러진 특징 값들을 추출하여 3차원 와이어 프레임 생성을 위한 거리 값으로 사용하였다. 마지막으로, 일반적인 delaunay triangulation에서 생길 수 있는 오 정합을 본 논문에서 제안하는 전경/배경 분할 알고리즘을 이용하여 제거 하여 정확한 3차원 모델을 생성하였다. 아울러, 본 논문에서 제안하는 웨이블릿을 이용한 빠른 3D 모델링 방법을 원 영상을 이용한 방법과 비교하여, 더 좋은 결과를 보여줌으로써, 계산 시간 뿐만 아니라 정확성에서도 만족할 만한 결과를 얻을 수 있었다.

• Journal of KIISE:Software and Applications
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• v.35 no.12
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• pp.789-799
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• 2008

For the communication between human and computer in an interactive computing environment, the gesture recognition has been studied vigorously. The algorithms which use the 2D features for the feature extraction and the feature comparison are faster, but there are some environmental limitations for the accurate recognition. The algorithms which use the 2.5D features provide higher accuracy than 2D features, but these are influenced by rotation of objects. And the algorithms which use the 3D features are slow for the recognition, because these algorithms need the 3d object reconstruction as the preprocessing for the feature extraction. In this paper, we propose a method to extract the 3D features combined with the 3D object reconstruction in real-time. This method generates three kinds of 3D projection maps using the modified GPU-based visual hull generation algorithm. This process only executes data generation parts only for the gesture recognition and calculates the Hu-moment which is corresponding to each projection map. In the section of experimental results, we compare the computational time of the proposed method with the previous methods. And the result shows that the proposed method can apply to real time gesture recognition environment.

• The KIPS Transactions:PartB
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• v.9B no.2
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• pp.237-244
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• 2002

In this paper, we propose a stereo image recognition-based method for measuring the volume of the rectangular parallelepiped. The method measures the volume from two images captured with two CCD (charge coupled device) cameras by sequential processes such as ROI (region of interest) extraction, feature extraction, and stereo matching-based vortex recognition. The proposed method makes it possible to measure the volume of the 3D object at high speed because only a few features are used in the process of stereo matching. From experimental results, it is demonstrated that this method is very effective for measuring the volume of the rectangular parallelepiped at high speed.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.35T no.2
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• pp.28-34
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• 1998

In this paper, I'd like to make a suggestion for boundary line detect algorithm which is used 3-D image processing system in order to track moving object. Through this study, more than anything else, difference image method was adopted to detect moving object in input image. To detect moving object, I made use of detect windows constructed by 4's predictive areas and object area for the purpose of reducing processing time and its size was determined by the size of moving object and prediction parameter directed center position. And also, tracking camera was movable toward the direction of X, Y by DC motor. As a conclusion of the study proposed algorithm, I found out the following results that tracking error was less than 6% of total moving object size and maximum tracking time 2 seconds by toy-car simulation.