• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.130-138
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• 2024

High-precision 3D Object Detection is a crucial component within autonomous driving systems, with far-reaching implications for subsequent tasks like multi-object tracking and path planning. In this paper, we propose a novel approach designed to enhance the performance of 3D Object Detection, especially in heading angle estimation by employing a moving object segmentation technique. Our method starts with extracting point-wise moving labels via a process of moving object segmentation. Subsequently, these labels are integrated into the LiDAR Pointcloud data and integrated data is used as inputs for 3D Object Detection. We conducted an extensive evaluation of our approach using the KITTI-road dataset and achieved notably superior performance, particularly in terms of AOS, a pivotal metric for assessing the precision of 3D Object Detection. Our findings not only underscore the positive impact of our proposed method on the advancement of detection performance in lidar-based 3D Object Detection methods, but also suggest substantial potential in augmenting the overall perception task capabilities of autonomous driving systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.426-429
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• 2004

To reconstruct the 3-D information of a irregular object, this paper proposes a new method applying the composition focus measure to time-series image. A focus measure function is carefully selected because a focus measure is apt to be affected by the working environment and the characteristics of an object. The proposed focus measure function combines the variance measure which is robust to noise and the Laplacian measure which, regardless of an object shape, has a good performance in calculating the focus measure. And the time-series image, which considers the object shape, is proposed in order to efficiently applying the interesting window. This method, first, divides the image frame by the window. Second, the composition focus measure function be applied to the windows, and the time-series image is constructed. Finally, the 3-D information of an object is reconstructed from the time-series images considering the object shape. The experimental results have shown that the proposed method is suitable algorithm to 3-D reconstruction of an irregular object.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.4
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• pp.109-116
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• 2002

The solution of the aircraft wing spar cross-section area optimization problem is obtained by the response surface method. The object function of the problem is wing total weight, design variables are spar cross-section areas, constraints are the conditions that the stresses at the each spar is less than the allowable stress. D-Optimal condition is utilized to obtain the experimental points to construct the response surfaces. D-Optimal experimental points are obtained by the commercial software "Deign-Expert". Response values for the object function and constraints for each experimental point are calculated by the NASTRAN. Response surfaces for object function and constraints are approximated from the response values by the least square method. The optimization solution is obtained by the DOT for the response surfaces of object function and constraints. The optimization results obtained from the response surface are compared with the results obtained by the NASTRAN SOL200.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.96-100
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• 1997

The shadow moire is one of the optical techniques which is able to give contour lines of an object with respect to a master grating plane. The moire patterns are issued from the superposition of a master grating and its shadow projected on the surface of an object. In case of the classical shadow moire method, the sensitivity was a few tenths millimeters. generally, it is difficult to use a phase shift method in shadow moire because it is impossible to obtain uniform phase shifts on the whole field. But in this study we use the fact that if the depth of object is much less than the distance between the observer and the master grating, and the object is displaced perpendicularly to the grating plane, phase shifts are almost uniform. Finally we obtained a better resolution by using a phase shift procedure and applied the phase shifting shadow moire to three dimensional shape measurement.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.194-202
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• 1999

A method for pattern recognition based on wavelet transform is proposed in this paper. The boundary of the object to be recognized includes shape information for object of machine parts. The contour is first represented using a one-dimensional signal and normalized about translation, rotation and scale, then is used to build the wavelet transform representation of the object. Wavelets allow us to decompose a function into multi-resolution hierarchy of localized frequency bands. The recognition of 2-dimensional object based on the wavelet is described to analyze the shape of analysis technique; the discrete wavelet transform(DWT). The feature vectors obtained using wavelet analysis is classified using a multi-layer neural network. The results show that, compared with the use of fourier descriptors, recognition using wavelet is more stable and efficient representation. And particularly the performance for objects corrupted with noise is better than that of other method.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.53-58
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• 1999

Even I the Electronic Speckle Pattern Interferometry(ESPI) method that measure the strain of object within wavelength of light is less visibility than Holographic Interferometry(HI) method, the merits of application, convenience and time-save have made the method practical in industry. However, the existing ESPI methods that are based on dual-exposure, real-time and time-average method have difficulties for accurate measurement, due to irregular intensity and shake of phase. Recently, in order to solve this problem, phase shifting method have been proposed. In this method, the path of reference light in interference is shifted to make improvement in distinction and precision. But this method includes too many noise, caused by the problem of relationship between object and phase. Therefore, a method to reduce noise muse be introduced. In this paper, least square fitting method is proposed. As results, the phase-map is influenced by precise phase shifting and current of notes and speckle pattern obtained by phase shifting method is improved on the existing method driven from time-average method.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.1
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• pp.59-65
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• 2007

This paper suggests a method for developing computer code that can solve inverse heat conduction problem, The concept of the object-oriented development is employed to implement the computer code in an efficient and flexible fashion. The software design is conducted based on the unified modeling language. Furthermore, this paper also explains how to implement the deliverable computer code using the existing software development tools.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1087-1090
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• 2004

stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.307-310
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• 2000

The measuring method of large object using the pattern matching is discussed in the paper. It is hard and expensive to get the complete 3D data when the object is large or exceeds the limit of measuring devices. The large object is divided into several smaller areas and is scanned several times to get the data of all the pieces. These data are aligned to get the complete 3D data using the pattern matching method. The point pattern matching method and transform matrix algorithm are used for aligning. The laser slit beam and CCD camera is applied for experimental measurement. Visual C++ on Window98 is implemented in processing the algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.248-254
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• 1993

This paper proposes the labeling method for solving bin-picking problem in robot vision. It has the processing steps such as image thresholding, region labeling, and moment computation. To determine a target object from object, the modified labeling method is used to. The moment concept applied to determine the position and orientation of target object. Finally, some experiment result are illustrated and compared with the results of conventional shrinking algorithm and collision fronts algorithm. The proposed labeling method has reduced processing time.