• Journal of Information Processing Systems
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• 제14권6호
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• 한국멀티미디어학회논문지
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• 제22권10호
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• pp.1142-1148
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• 2019

Reconstruction of the three-dimensional (3D) environment is a key aspect of augmented reality and augmented virtuality, which utilize and incorporate a user's surroundings. Such reconstruction can be easily realized by employing a Kinect device. However, multiple Kinect devices are required for enhancing the reconstruction density and for spatial expansion. While employing multiple Kinect devices, they must be calibrated with respect to each other in advance, and a marker is often used for this purpose. However, a marker needs to be placed at each calibration, and the result of marker detection significantly affects the calibration accuracy. Therefore, a user-friendly, efficient, accurate, and marker-less method for calibrating multiple Kinect devices is proposed in this study. The proposed method includes a joint tracking algorithm for approximate calibration, and the obtained result is further refined by applying the iterative closest point algorithm. Experimental results indicate that the proposed method is a convenient alternative to conventional marker-based methods for calibrating multiple Kinect devices. Hence, the proposed method can be incorporated in various applications of augmented reality and augmented virtuality that require 3D environment reconstruction by employing multiple Kinect devices.

• 스마트미디어저널
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• 제11권9호
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• pp.75-80
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• 2022

최근 현실감 있는 경험을 제공하기 위한 몰입형 가상현실(VR) 기술에 대한 연구 개발이 활발하게 진행되고 있다. 가상현실 참여자에게 실제와 유사한 실감적인 가상현실 체험을 제공하기 위해서는 실제 현실 공간에 존재하는 환경 및 객체의 정보를 정밀하게 캡처 및 복원하여 가상 환경 시스템의 모델 데이터로 적용한 시스템 구성이 필요하다. 이러한 가상 환경 구성에 필요한 실 데이터를 획득하기 위해서는 다수의 비정형 카메라를 활용한 셋업으로 이루어진다. 하지만, 다수의 비정형 위치의 카메라를 활용해 실제 공간에서의 3차원으로 구성된 정보를 획득할 경우 카메라의 개수 및 위치가 최적화되지 않아 복원의 오류가 발생할 수 있다. 또한, 정밀한 객체 복원을 위해 과도한 양의 비정형 카메라가 배치될 경우 비정형 카메라 배치에 따른 자원의 낭비 또한 발생할 수 있어 적절한 개수의 비정형 카메라가 배치되어야 한다. 본 논문에서는 3차원 공간 데이터를 복원 시 필요한 정보를 얻기 위해 배치되는 다수의 비정형 카메라를 최적화할 수 있는 최적 카메라 배치(Optimal Camera Placement) 학습 기법을 제안한다. 본 논문에서 제안한 방법을 통해 실제 환경 정보 획득 시 정확한 형태의 복원 데이터를 이용하여 가상 환경을 생성하고, 더욱 몰입도 높은 실감형 콘텐츠 시스템을 사용자에게 제공할 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1634-1637
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• 2003

Any given object on the motor-driven turntable is pictured from 8 to 72 different views with a digital camera. 3D shape reconstruction is performed with the integrated software called by Scanware from these multiple digital photographs. There are several steps such as configuration, calibration, capturing, segmentation, shape creation, texturing and merging process during the shape reconstruction process. 3D geometry data can be exported to cad data such as Autocad input file. Also 3D image model is generated from 3D geometry and texture data, and is used to advertise the model in the internet environment. Consumers can see the object realistically from wanted views by rotating or zooming in the internet browsers with Scanbull spx plug-in. The spx format allows a compact saving of 3D objects to handle or download. There are many types of scan equipments such as laser scanners and photogrammetric scanners. Line or point scan methods by laser can generate precise 3D geometry but cannot obtain color textures in general. Reversely, 3D image modeling with photogrammetry can generate not only geometries but also textures from associated polygons. We got various 3D image models and introduced the process of getting 3D image model of an internet-connected watchdog robot.

• 대한의용생체공학회:의공학회지
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• 제19권2호
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• pp.189-198
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• 1998

3차원 의료영상 재구성 기법은 2차원 의료영상으로부터 인체의 복잡한 3차원 구조를 이해하는데 많은 도움을 준다. 본 논문에서 구현한 3차원 의료영상 재구성 시스템은 저가의 PC 기반에서 시스템의 환경에 상관없이 사용될 수 있도록 Visual C++4.2를 이용하여 작성하였으며 향후 확장성을 고려하여 각 기능을 모듈화 시켰다. 모듈 설계된 3차원 의료영상 재구성 시스템은 데이터 준비, 그래디언트 근시화, 분할, 음영처리, 좌표시스템 변환, 그리고 광선투사와 합성 모듈로 구성되었다. 본 논문에서는 3차원 의료영상 재구성 방법의 속도문제를 개선하여 저가의 PC 환경에서 구현하였다. PC 환경에서 3차원 의료영상 재구성 시스템을 구현하기 위하여 광선투사를 재구성되는 영상에 영향을 주지 않는 범위에서 조기 중단시키는 알고리듬과 영상 재구성에 참여하는 체적소를 줄이는 방법, 그리고 영상을 재구성하기 위한 광선투사 과정에서 투시되는 광선의 수를 줄이는 방법 등ㄹ을 적용하여 PC환경에서 3차원 의료영상 재구성 시스템의 고속화를 이루었으며 실험에 의해서 PC환경에서도 의료영상 재구성 알고리듬이 효과적으로 사용되었다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.470-473
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• 2005

This paper proposes a reconstruction method for the shape and color information of 3-dimensional buildings. The proposed method is range scanning by laser range finder and image coordinates' color information mapping to laser coordinate by a fixed CCD camera on laser range finder. And we make a 'Far-View' using high-resolution satellite image. The 'Far-View' is created that the height of building using DEM after contours of building extraction. The user select a region of 'Far View' and then, appear detailed 3D-reconstruction of building The outcomes apply to city plan, 3D-environment game and movie background etc.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1695-1700
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• 2005

In this paper, we propose an optimal thresholding method for the voxel coloring in the reconstruction of a 3D shape. Our purposed method is a new approach to resolve the trade-off error of the threshold value on determining the photo-consistency in the conventional method. Optimal thresholding value is decided to compare the surface voxel of photo-consistency with inside voxel on the optic ray of the center camera. As iterating the process of the voxels, the threshold value is approached to the optimal value for the individual surface voxel. And also, graph cut method is reduced to the surface noise on eliminating neighboring voxel. To verify the proposed algorithm, we simulated in the virtual and real environment. It is advantaged to speed up and accuracy of a 3D face reconstruction by applying the methods of optimal threshold and graph cut as compare with conventional algorithms.

• 한국콘텐츠학회논문지
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• 제13권11호
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• pp.523-532
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• 2013

3차원 공간에서 물체를 재구성하기 위하여 제안된 기존 기법들은 여러 개의 카메라를 사용하거나 여러장의 사진을 촬영하여 물체를 재구성하기 때문에 특정한 하드웨어를 필요로 하거나 촬영 장소에 민감하고 시간이 오래 걸린다는 단점이 있다. 본 논문에서는 유비쿼터스 환경에서 구조광 기법을 이용하여 한 장의 사진의 정보로부터 3차원 물체를 재구성하는 방법을 제안한다. 구조광 기법 적용을 위한 칼라 패턴은 기존연구에서 제안된 것을 사용한다. 본 논문에서는 실제로 객체 재구성 성능에 매우 중요한 줄무늬 패턴 추출과 줄무늬 패턴 매칭에 다양한 영상 처리 기법들로 구성된 파이프라인을 새롭게 제안하고, 패턴 매칭을 위한 최적의 비용 함수를 제안한다. 제안 기법을 통하여 갤럭시 빔과 같은 초소형 프로젝터를 탑재한 스마트폰과 같은 유비쿼터스 혹은 모바일 환경에서 적은 계산 복잡도와 간단한 환경 설정으로 3차원 물체를 재구성하는 것이 가능하다.

• 한국측량학회지
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• 제33권6호
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• pp.557-567
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• 2015

With the increasing demands of 3D spatial information in urban environment, the importance of point clouds generation techniques have been increased. In particular, for as-built BIM, the point clouds with the high accuracy and density is required to describe the detail information of building components. Since the terrestrial LiDAR has high performance in terms of accuracy and point density, it has been widely used for as-built 3D modelling. However, the high cost of devices is obstacle for general uses, and the image-based 3D reconstruction technique is being a new attraction as an alternative solution. This paper compares the image-based 3D reconstruction technique and the terrestrial LiDAR in point of establishing the as-built BIM of outdoor structures. The point clouds generated from the image-based 3D reconstruction technique could roughly present the 3D shape of a building, but could not precisely express detail information, such as windows, doors and a roof of building. There were 13.2~28.9 cm of RMSE between the terrestrial LiDAR scanning data and the point clouds, which generated from smartphone and DSLR camera images. In conclusion, the results demonstrate that the image-based 3D reconstruction can be used in drawing building footprint and wireframe, and the terrestrial LiDAR is suitable for detail 3D outdoor modeling.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.128-131
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• 2004

In this paper, we describe reconstructed 3D-urban modeling techniques for laser scanner and CCD camera system, which are loading on the vehicle. We use two laser scanners, the one is horizon scanner and the other is vertical scanner. Horizon scanner acquires the horizon data of building for localization. Vertical scan data are main information for constructing a building. We compared extraction of edge aerial image with laser scan data. This method is able to correct the cumulative error of self-localization. Then we remove obstacles of 3D-reconstructed building. Real-texture information that is acquired with CCD camera is mapped by 3D-depth information. 3D building of urban is reconstructed to 3D-virtual world. These techniques apply to city plan. 3D-environment game. movie background. unmanned-patrol etc.