• Journal of Korea Multimedia Society
• /
• v.19 no.9
• /
• pp.1647-1658
• /
• 2016

RGB+D database has been widely used in object recognition, object tracking, robot control, to name a few. While rapid advance of active depth sensing technologies allows for the widespread of indoor RGB+D databases, there are only few outdoor RGB+D databases largely due to an inherent limitation of active depth cameras. In this paper, we propose a novel method used to build outdoor RGB+D databases. Instead of using active depth cameras such as Kinect or LIDAR, we acquire a pair of stereo image using high-resolution stereo camera and then obtain a depth map by applying stereo matching algorithm. To deal with estimation errors that inevitably exist in the depth map obtained from stereo matching methods, we develop an approach that estimates confidence of depth maps based on unsupervised learning. Unlike existing confidence estimation approaches, we explicitly consider a spatial correlation that may exist in the confidence map. Specifically, we focus on refining confidence feature with the assumption that the confidence feature and resultant confidence map are smoothly-varying in spatial domain and are highly correlated to each other. Experimental result shows that the proposed method outperforms existing confidence measure based approaches in various benchmark dataset.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.5
• /
• pp.132-140
• /
• 2016

In this paper, we propose boundary-preserving stereo matching method based on adaptive disparity adjustment using confidence region detection. To find the initial disparity map, we compute data cost using the color space (CIE Lab) combined with the gradient space and apply double cost aggregation. We perform left/right consistency checking to sort out the mismatched region. This consistency check typically fails for occluded and mismatched pixels. We mark a pixel in the left disparity map as "inconsistent", if the disparity value of its counterpart pixel differs by a value larger than one pixel. In order to distinguish errors caused by the disparity discontinuity, we first detect the confidence map using the Mean-shift segmentation in the initial disparity map. Using this confidence map, we then adjust the disparity map to reduce the errors in initial disparity map. Experimental results demonstrate that the proposed method produces higher quality disparity maps by successfully preserving disparity discontinuities compared to existing methods.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2004.04a
• /
• pp.541-546
• /
• 2004

This study compare the coordination and area between cadastral map digital data corrected by normal nap and serial cadastral map edited by formal data. By superposition ortho image made from aerial photo to serial cadastral map, we propose the method to improve the confidence and use the ortho image efficiently in cadastral part.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.735-739
• /
• 2005

This paper presents a new system to estimate the head pose of human in interactive indoor environment that has dynamic illumination change and large working space. The main idea of this system is to suggest a new morphological feature for estimating head angle from stereo disparity map. When a disparity map is obtained from stereo camera, the matching confidence value can be derived by measurements of correlation of the stereo images. Applying a threshold to the confidence value, we also obtain the specific morphology of the disparity map. Therefore, we can obtain the morphological shape of disparity map. Through the analysis of this morphological property, the head pose can be estimated. It is simple and fast algorithm in comparison with other algorithm which apply facial template, 2D, 3D models and optical flow method. Our system can automatically segment and estimate head pose in a wide range of head motion without manual initialization like other optical flow system. As the result of experiments, we obtained the reliable head orientation data under the real-time performance.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.3
• /
• pp.330-336
• /
• 2005

Existing Bayesian update method using ultrasonic sensors only for mobile robot map building has a problem of the quality of map being degraded in the wall with irregularity, which is caused by the wide beam distribution. For improving this problem, an infrared sensors aided map building method is presented in this paper. Information of obstacle at each region in ultrasonic sensor beam is acquired using the infrared sensors and the information is used to get the confidence of ultrasonic sensor information via fuzzy inference system and genetic algorithm. Combining the resulting confidence with the result of Bayesian update method, an improve map is constructed. The proposed method showed good results in the simulations and experiments.

• Spatial Information Research
• /
• v.20 no.5
• /
• pp.15-24
• /
• 2012

The purpose of this study was to establish an analytical framework and quantitative methodologies to analyze 'the cognitive effects of web map use' and to empirically test it. This experimental design was established based on the literature about spatial cognition. Accuracy, reaction time, and confidence within each participant were compared to measure the cognitive effects of web map use for wayfinding. Geometric accuracy of the cognitive maps was estimated and calculated based on the bidimensional regression. The experimental results showed that characteristics of map users and repetition of map use rather than types of map representation did significantly affect accuracy and reaction time of spatial cognition by using web maps. And confidence appeared to be low when the participants referred to both 2D and 3D maps for wayfinding tasks on the web maps. Understanding spatial cognition of web map users, which was suggested in the study, will help cartographers make more effectively-communicated maps.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.1
• /
• pp.116-122
• /
• 2010

This paper proposes a method for classifying targets robust to geometric transformations of targets such as rotation, scale change, translation, and pose change. Targets which have rotation, scale change, and shift is firstly classified based on CM(Confidence Map) which is generated by similarity, scale ratio, and range of orientation for SIFT(Scale-Invariant Feature Transform) feature vectors. On the other hand, DB(DataBase) which is acquired in various angles is used to deal with pose variation of targets. Range of the angle is determined by comparing and analyzing the execution time and performance for sampling intervals. We experiment on various images which is geometrically changed to evaluate performance of proposed target classification method. Experimental results show that the proposed algorithm has a good classification performance.

• The Journal of Korea Robotics Society
• /
• v.6 no.2
• /
• pp.189-196
• /
• 2011

This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.

• Proceedings of the KSRS Conference
• /
• 2008.10a
• /
• pp.378-381
• /
• 2008

The regulating and relaxing targets in the Land Use Regulation and Total Maximum Daily Loads are influenced by Land cover information. For the providing more accurate land information, this study attempted to generate an impervious surface map using KOMPSAT-2 image which a Korea manufactured high resolution satellite image. The classification progress of this study carried out by tasseled-cap spectral enhancement through each class extraction technique neither existing classification method. KOMPSAT-2 image of this study is enhanced by Soil Brightness Index(SBI), Green vegetation Index(GVI), None-Such wetness Index(NWI). Then ranges of extracted each index in enhanced image are determined. And then, Confidence Interval of classes was determined through the calculating Non-exceedance Probability. Spectral distributions of each class are changed according to changing of Control coefficient(${\alpha}$) at the calculated Non-exceedance Probability. Previously, Land cover classification map was generated based on established ranges of classes, and then, pervious and impervious surface was reclassified. Finally, impervious ratio of reclassified impervious surface map was calculated with blocks in the study area.

• Journal of the Korean Society of Clothing and Textiles
• /
• v.41 no.1
• /
• pp.1-16
• /
• 2017

This study conducted in-depth interviews with twelve men in their twenties and employed the Zaltman Metaphor Elicitation Technique (ZMET) to identify the ideal self-image and fantasy of men wearing makeup. The results are as follows. First, the ideal self-images of men wearing makeup can be divided into 7 images (well-managed, dissimilar from real identity, masculine, neat, stylish, standing out, and formal). Men who wear makeup pursued an alternative decent image that is different from their reality. They want to be manly, attractive, decorous, and eye-catching through a better looking face. Second, men who wear makeup have insecurities about their looks and personalities that creates dissatisfaction with reality and a desire for a different idealistic self. Makeup was the tool to create the other entity. Makeup facilitated a fantasy of becoming another to gain increased confidence in social relationships. However, without makeup, they showed a lack of confidence and became intimidated that made them even further dependent on makeup. Third, the process helped participants complete a consensus map that represented the emotional and reasoning structures of men wearing makeup. This study showed 7 ideal self-images of men wearing makeup with a fantasy to create a desired ideal self by wearing makeup. The study can be applied to marketing strategy for men's cosmetics and plates' designs.