• Journal of Korean Ophthalmic Optics Society
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• v.19 no.4
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• pp.539-550
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• 2014

Purpose: This research was designed to figure out if there are changes based on types of vergence fixation disparity curve after optical correction and vision training to for people with steep slope of forced vergence fixation disparity curve and symptoms. Methods: For 30 subjects out of 91 subjects, who have steep slopes of fixation disparity curve examined with Wesson Fixation Disparity Card and symptoms about steep slope of fixation disparity curve, proper vision training was offered for 5 weeks. Results: After Vision training for 30 people with the symptoms of type I, II, III, IV for 5 weeks, slope of fixation disparity curve was significantly changed (p=0.013), and the results of binocular vision test and subjective symptoms were also significantly improved. Conclusions: Vision training can not only affect the change of fixation disparity curve, but also relieve the symptoms. Fixation disparity curve has lots of visual function information of the subject and can be suggested as a guideline for prescribing.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.8
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• pp.132-139
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• 2015

Visual SLAM(Simultaneous Localization And Mapping) has been used widely to estimate a mobile robot's location. Visual SLAM estimates relative motions with static visual features over image sequence. Because visual SLAM methods assume generally static features in the environment, we cannot obtain precise results in dynamic situation including many moving objects: cars and human beings. This paper presents a stereo vision based SLAM method in dynamic environment. First, we extract disparity map with stereo vision and compute optical flow. We then compute disparity change that is the estimated flow field between stereo views. After examining the disparity change value, we detect ROIs(Region Of Interest) in disparity space to determine dynamic scene objects. In indoor environment, many structural planes like walls may be determined as false dynamic elements. To solve this problem, we segment the scene into planar structure. More specifically, disparity values by the stereo vision are projected to X-Z plane and we employ Hough transform to determine planes. In final step, we remove ROIs nearby the walls and discriminate static scene elements in indoor environment. The experimental results show that the proposed method can obtain stable performance in dynamic environment.

• Journal of the Optical Society of Korea
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• v.4 no.1
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• pp.25-29
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• 2000

Two different binocular cues are known for detecting motion in depth. One is disparity change in time and the other is inter-ocular velocity difference. Shioiri, Saisho and Yaguchi (1999) demon-strated that motion in depth can be seen based solely on inter-ocular velocity differences as well as on the disparity change in time. They used conditions in which either cue was minimized and measured performance based on motion in depth, finding better performance than chance level when either velocity cue or the disparity cue was almost isolated. However, there may have been influences from the cue minimized in each condition, since it was practically impossible to isolate perfectly either cue. I re-analyzed their data to examine whether the performance in the condition with disparity change and that in the condition with inter-ocular velocity difference were correlated. The result showed the correlation is very low and therefore, we can conclude that the visual system has two different mechanisms for motion in depth.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.46-52
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• 2016

We propose a new type of semi-global matching (SGM) in order to solve a streaking problem arising from conventional SGM. Conventional SGM imposes a penalty to a pixel when the disparity of the pixel differs from that of the previous pixel along a scan path, and thus, disparity changes are not easily allowed, causing the streaking effect. The road surface is an appropriate target for such an effect, because the colors of the surfaces are very similar, and the image pixels corresponding to the surfaces show disparities that change very smoothly along the viewing direction. In contrast to conventional SGM, the new type of SGM imposes penalties depending on the disparity gradients, and thus, the streaking effect is controlled. The experimental results show the effectiveness of the proposed SGM method.

• Journal of Korean Ophthalmic Optics Society
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• v.14 no.4
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• pp.77-81
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• 2009

Purpose: To study the change of fixation disparity and accommodation as fusion contrast is deteriorated. Methods: 16 subjects who had above 20/20 and stereopsis took part. Monocular and binocular refraction were done with Zeiss Polatest Classic whereas the critical angle for stereopsis was done with TNO. A computer programmed with Random-Dot stereogram and vernier test managed a precise change of the fusion contrast and exposure time. Results: The fixation disparity was influenced by reduction of fusion contrast and had tendancy to exophoria (p=0.0004), especially it is considerably higher when uncrossed disparity was shown to exophoric subjects. Although accommodation was not influenced by a change of fusion contrast (p=0.803), vernier acuity was influenced (p=0.0000). Conclusions: Exophoric trend arose as the fusion contrast was reduced, nevertheless there was no accommadative change.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.93-96
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• 2015

The aim of the estimation of disparity map is to find the corresponding pixels from similar two or more images. However, it is a difficult problem to get precise and consistent disparity under a variety of real world situations. In other words, the color values of stereo images are easily influenced by radiometric properties such as illumination direction, illumination color, and camera exposure. Therefore, conventional stereo matching methods can have low performances under radiometric conditions. In this paper, we propose an approaching of disparity map estimation that is reliable in controlling various radiometric variations close to the real environment. This method is motivated by following constancy. Even though each other has different radiometric property in stereo images, intensity of pixels of object have general constancy in specific block. Experimental results show that the proposed method has better performances compared to the comparison group under different radiometric conditions between stereo images. Consequentially, the proposed method is able to estimate the disparity map in stable under various radiometric variations.

• Journal of Information Display
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• v.6 no.4
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• pp.16-25
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• 2005

In this paper, a new 3D object tracking system using the disparity motion vector (DMV) is presented. In the proposed method, the time-sequential disparity maps are extracted from the sequence of the stereo input image pairs and these disparity maps are used to sequentially estimate the DMV defined as a disparity difference between two consecutive disparity maps Similarly to motion vectors in the conventional video signals, the DMV provides us with motion information of a moving target by showing a relatively large change in the disparity values in the target areas. Accordingly, this DMV helps detect the target area and its location coordinates. Based on these location data of a moving target, the pan/tilt embedded in the stereo camera system can be controlled and consequently achieve real-time stereo tracking of a moving target. From the results of experiments with 9 frames of the stereo image pairs having 256x256 pixels, it is shown that the proposed DMV-based stereo object tracking system can track the moving target with a relatively low error ratio of about 3.05 % on average.

• Journal of Broadcast Engineering
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• v.12 no.6
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• pp.624-629
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• 2007

While single view video coding uses the temporal prediction scheme, multi-view video coding (MVC) applies both temporal and inter-view prediction schemes. Thus, the key problem of MVC is how to reduce the inter-view redundancy efficiently, because various existing video coding schemes have already provided solutions to reduce the temporal correlation. In this paper, we propose a global disparity compensation scheme which increases the inter-view correlation and a new inter-view prediction structure based on the global disparity compensation. By experiment, we demonstrate that the proposed global disparity compensation scheme is less sensitive to change of the search range. In addition, the new Inter-view prediction structure achieved about $0.1{\sim}0.3dB$ quality improvement compared to the reference software.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.4
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• pp.59-64
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• 2001

In this paper it was proposed method that solve problems of method to segment region of zero disparity and algorithm that extract binocular disparity to estimate position of object by vergence movement of moving stereo cameras experimented to compare those. There was not change of density value almost in region that change of critcal value was not found almost in image, because a high critical value was set so that critical value may be kipt changelessly about all small regions in studied treatise so far. The corresponding points were extracted wrongly by the result. By because the characteristics of small region was evaluated by autocorrelation and the critical value was established that may be proportional to the autocorrelation value, it was confirmed that corresponding points are not extracted almost by mistake and binocular disparity could by extracted with high speed.

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