• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.1
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• pp.58-63
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• 2020

This paper proposes the method for improving the localization accuracy of the mobile robot based on the stereo camera. To restore the position information from stereo images obtained by the stereo camera, the corresponding point which corresponds to one pixel on the left image should be found on the right image. For this, there is the general method to search for corresponding point by calculating the similarity of pixel with pixels on the epipolar line. However, there are some disadvantages because all pixels on the epipolar line should be calculated and the similarity is calculated by only pixel value like RGB color space. To make up for this weak point, this paper implements the method to search for the corresponding point simply by calculating the gap of x-coordinate when the feature points, which are extracted by feature extraction and matched by feature matching method, are a pair and located on the same y-coordinate on the left/right image. In addition, the proposed method tries to preserve the number of feature points as much as possible by finding the corresponding points through the conventional algorithm in case of unmatched features. Because the number of the feature points has effect on the accuracy of the localization. The position of the mobile robot is compensated based on 3-D coordinates of the features which are restored by the feature points and corresponding points. As experimental results, by the proposed method, the number of the feature points are increased for compensating the position and the position of the mobile robot can be compensated more than only feature extraction.

• Journal of the Korean Association of Geographic Information Studies
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• v.7 no.4
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• pp.143-154
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• 2004

The researchers, who seek geological and environmental information, depend on the remote sensing and aerial photographic datum from various commercial satellites and aircraft. However, the adverse weather conditions and the expensive equipment can restrict that the researcher can collect their data anywhere and any time. To allow for better flexibility, we have developed a compact, a multi-spectral automatic Aerial photographic system(PKNU 2). This system's Multi-spectral camera can catch the visible(RGB) and infrared(NIR) bands($3032{\times}2008$ pixels) image. Visible and infrared bands images were obtained from each camera respectively and produced Color-infrared composite images to be analyzed in the purpose of the environment monitor but that was not very good data. Moreover, it has a demerit that the stereoscopic overlap area is not satisfied with 60% due to the 12s storage time of each data, while it was possible that PKNU 2 system photographed photos of great capacity. Therefore, we have been developing the advanced PKNU 2(PKNU 3) that consists of color-infrared spectral camera can photograph the visible and near infrared bands data using one sensor at once, thermal infrared camera, two of 40 G computers to store images, and MPEG board to compress and transfer data to the computer at the real time and can attach and detach itself to a helicopter. Verification and calibration of each sensor(REDLAKE MS 4000, Raytheon IRPro) were conducted before we took the aerial photographs for obtaining more valuable data. Corrections for the spectral characteristics and radial lens distortions of sensor were carried out.

• Journal of the Society of Cosmetic Scientists of Korea
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• v.43 no.4
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• pp.349-355
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• 2017

Skin tone plays a key role in one of the determinant for facial attractiveness. Most female customers have an interest in choosing skin color and improving their skin tone and their needs have been contributed the expansion of cosmetic products in the market. Recently, cosmetic customers, who want bright skin, are also interested in healthy and lively-looking skin. However, there is no method to evaluate the skin tone with the complexion-describing adjectives (CDAs). Therefore, this study was conducted to find the ways to objectify and digitize the CDA. We obtained that quasi $L^*$ at dark skin is 65 and quasi $L^*$ at bright skin is 74 for standard images, which are selected from our data base. To match the following seven CDAs: pale, clear, radiant, lively, healthy, rosy and dull, the colors of both images were adjusted by 30 panels. The quasi $L^*$, $a^*$ and $b^*$ were converted from the RGB values of the manipulated images. The differences between the quasi $L^*$, $a^*$ and $b^*$ values of standard images and manipulated images reflecting each CDA were statistically significant (p < 0.05). However, there were no statistical significances between the $L^*$ values of dark and bright skin images that were modified in accordance with each CDA and there also were no statistical significances between the quasi $a^*$ values of dark and bright skin for pale and clear CDAs. From the statistical analysis, the CDAs were observed to form three groups: (i) pale-clear-radiant, (ii) lively-healthy-rosy and (iii) dull. We recognized that people have a similar opinion about perception of CDAs. Following our results of this study, we establish new standard method for sensibility evaluation which is difficult to carry out scientifically or objectively.