• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.373-380
• /
• 2022

This paper considers a method of fast correspondence matching for iterative closest point (ICP) algorithm. In robotics, the ICP algorithm and its variants have been widely used for pose estimation by finding the translation and rotation that best align two point clouds. In computational perspectives, the main difficulty is to find the correspondence point on the reference point cloud to each observed point. Jump-table-based correspondence matching is one of the methods for reducing computation time. This paper proposes a method that corrects errors in an existing jump-table-based correspondence matching algorithm. The criterion activating the use of jump-table is modified so that the correspondence matching can be applied to the situations, such as point-cloud registration problems with highly curved surfaces, for which the existing correspondence-matching method is non-applicable. For demonstration, both hardware and simulation experiments are performed. In a hardware experiment using Hokuyo-10LX LiDAR sensor, our new algorithm shows 100% correspondence matching accuracy and 88% decrease in computation time. Using the F1TENTH simulator, the proposed algorithm is tested for an autonomous driving scenario with 2D range-bearing point cloud data and also shows 100% correspondence matching accuracy.

• Journal of Korea Multimedia Society
• /
• v.13 no.6
• /
• pp.825-832
• /
• 2010

This paper presents only a matching algorithm based on Delaunay triangulation and Parametrization from the extracted minutiae points. This method maps local neighborhood of points of two different point sets to unit-circle using topology information by Delaunay triangulation method from feature points of real fingerprint. Then, a linked convex polygon that includes an interior point is constructed as one-ring which is mapped to unit-circle using Parametrization that keep shape preserve. In local matching, each area of polygon in unit-circle is compared. If the difference of two areas are within tolerance, two polygons are consider to be matched and then translation, rotation and scaling factors for global matching are calculated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.12
• /
• pp.1234-1239
• /
• 2011

The scan matching is widely used in localization and mapping of mobile robots. This paper presents a probabilistic scan matching method. To improve the performance of the scan matching, a direction of data point is incorporated into the scan matching. The direction of data point is calculated using the line fitted by the neighborhood data. Owing to the incorporation, the performance of the matching was improved. The number of iterations in the scan matching decreased, and the tolerance against a high rotation between scans increased. Based on real data of a laser range finder, experiments verified the performance of the proposed direction augmented probabilistic scan matching algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.9
• /
• pp.714-719
• /
• 2003

We propose a measuring method of large object using the pattern matching. It is hard and expensive to get the complete 3D data when the object is large and 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 such as point pattern matching method and transform matrix algorithm. The laser slit beam and CCD camera are applied for the experimental measurement. Visual C＋＋ on Windows 98 is implemented in processing the algorithm.

• Journal of Korea Multimedia Society
• /
• v.8 no.6
• /
• pp.761-767
• /
• 2005

The personal identification procedure through the fingerprints is divided as the classification process by the type of the fingerprints and the matching process to confirm oneself. Many existing researches for the classification and the matching of the fingerprint depend on the number of the minutiae of the fingerprints and the flow patterns by their direction information. In this paper, we focus on extracting the singular points by using the flow patterns of the direction information from identification. The extracted singular points are utilized as a standard point for the matching process by connecting with the extracted information from the singular point embodied. The orthogonal coordinates which is generated by the axises of the standard point can increase the accuracy of the fingerprints matching because of minimizing the effects on the location changes of the fingerprint images.

• Proceedings of the Korea Contents Association Conference
• /
• 2005.05a
• /
• pp.362-368
• /
• 2005

This paper is related to the fast block matching algorithm, especially a method for expanding the search pattern using the second local matching point in the adaptive hexagonal search. To reduce the local minima problem in fast motion estimation, the proposed method expands the search pattern by adding new searching points selected by using the second local matching point to conventional search pattern formed by the first local matching point in the adaptive hexagonal search. According to estimating the motion vector by applying block matching algorithm based on hexagonal search to the expanded search pattern, the proposed method can effectively carry out fast motion estimation to improve the performance in terms of compensated image quality.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.5
• /
• pp.841-849
• /
• 2001

The pixel information of the object was obtained sequentially and pixels were clustered to a label by the line labeling method. Feature points were determined by finding the slope for edge pixels after selecting the fixed number of edge pixels. The slope was estimated by the least square method to reduce the detection error. Once a matching point was determined by comparing the feature information of the object and the pattern, the parameters for translation, scaling and rotation were obtained by selecting the longer line of the two which passed through the matching point from left and right sides. Finally, modified Hausdorff Distance has been used to identify the similarity between the object and the given pattern. The multi-label method was developed for recognizing the patterns with more than one label, which performs the modified Hausdorff Distance twice. Experiments have been performed to verify the performance of the proposed algorithm and method for simple target image, complex target image, simple pattern, and complex pattern as well as the partially hidden object. It was proved via experiments that the proposed image matching algorithm for recognizing the object had a good performance of matching.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.1
• /
• pp.96-104
• /
• 1990

In this paper, a novel method of jig-saw puzzle matching is proposed using a modifided boundary matching algorithm without a priori knowledge for the matched puzzle. Specifically, a boundary tracking algorithm is utilised to segment each puzzle from low-resolution image data. Segmented puzzle is described via corner point, angle and distance between two adjacent coner point, and convexity and/or concavity of corner point. Proposed algorithm is implemented and tested in IBM PC and PC version vision system, and applied successfully to real jig-saw puzzles.

• Proceedings of the KSRS Conference
• /
• 2004.10a
• /
• pp.208-211
• /
• 2004

Landmark matching is one of an important algorithm for navigation of satellite images. This paper proposes a fast landmark matching algorithm using a MGLI (Moving Guide-Line Image). For searching the matched point between the landmark chip and a part of image, correlation matrix is used generally, but the full-sized correlation matrix has a drawback requiring plenty of time for matching point calculation. MGLI includes thick lines for fast calculation of correlation matrix. In the MGLI, width of the thick lines should be determined by satellite position changes and navigation error range. For the fast landmark matching, the MGLI provides guided line for a landmark chip we want to match, so that the proposed method should reduce candidate areas for correlation matrix calculation. This paper will show how much time is reduced in the proposed fast landmark matching algorithm compared to general ones.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.15 no.8
• /
• pp.3011-3024
• /
• 2021

Pose estimation of the sensor is important issue in many applications such as robotics, navigation, tracking, and Augmented Reality. This paper proposes visual-inertial integration system appropriate for dynamically moving condition of the sensor. The orientation estimated from Inertial Measurement Unit (IMU) sensor is used to calculate the essential matrix based on the intrinsic parameters of the camera. Using the epipolar geometry, the outliers of the feature point matching are eliminated in the image sequences. The pose of the sensor can be obtained from the feature point matching. The use of IMU sensor can help initially eliminate erroneous point matches in the image of dynamic scene. After the outliers are removed from the feature points, these selected feature points matching relations are used to calculate the precise fundamental matrix. Finally, with the feature point matching relation, the pose of the sensor is estimated. The proposed procedure was implemented and tested, comparing with the existing methods. Experimental results have shown the effectiveness of the technique proposed in this paper.