• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.2
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• pp.75-80
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• 2017

Recently, there has been growing interest in spatial data that combines information and communication technology with smart cities. The high-precision LiDAR (Light Dectection and Ranging) equipment is mainly used to collect three-dimensional spatial data, and the acquired data is also used to model geographic features and to manage plant construction and cultural heritages which require precision. The LiDAR equipment can collect precise data, but also has limitations because they are expensive and take long time to collect data. On the other hand, in the field of computer vision, research is being conducted on the methods of acquiring image data and performing 3D reconstruction based on image data without expensive equipment. Thus, precise 3D spatial data can be constructed efficiently by collecting and processing image data using CCTVs which are installed as infrastructure facilities in smart cities. However, this method can have an accuracy problem compared to the existing equipment. In this study, experiments were conducted and the results were analyzed to increase the number of extracted matching points by applying the feature-based method and the area-based method in order to improve the precision of 3D spatial data built with image data acquired from stereo CCTVs. For techniques to extract matching points, SIFT algorithm and PATCH algorithm were used. If precise 3D reconstruction is possible using the image data from stereo CCTVs, it will be possible to collect 3D spatial data with low-cost equipment and to collect and build data in real time because image data can be easily acquired through the Web from smart-phones and drones.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.141-143
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• 2004

This paper presents an algorithm in which a feature map is built and localization of a mobile robot is carried out for indoor environments. The algorithm proposes an approach which extracts scale-invariant features of natural landmarks from a pair of stereo images. The feature map is built using these features and updated by merging new landmarks into the map and removing transient landmarks over time. And the position of the robot in the map is estimated by comparing with the map in a database by means of an Extended Kalman filter. This algorithm is implemented and tested using a Pioneer 2-DXE and preliminary results are presented in this paper.

• Journal of the HCI Society of Korea
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• v.2 no.2
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• pp.35-43
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• 2007

This paper presents a system for image matching and recognition based on image feature detection and description techniques from artificial satellite photographs. We propose some kind of parameters from the varied environmental elements happen by image handling process. The essential point of this experiment is analyzes that affects match rate and recognition accuracy when to change of state of each parameter. The proposed system is basically inspired by Lowe's SIFT(Scale-Invariant Transform Feature) algorithm. The descriptors extracted from local affine invariant regions are saved into database, which are defined by k-means performed on the 128-dimensional descriptor vectors on an artificial satellite photographs from Google earth. And then, a label is attached to each cluster of the feature database and acts as guidance for an appeared building's information in the scene from camera. This experiment shows the various parameters and compares the affected results by changing parameters for the process of image matching and recognition. Finally, the implementation and the experimental results for several requests are shown.

• Journal of Korea Multimedia Society
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• v.19 no.9
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• pp.1679-1689
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• 2016

Recently, due to the rapid development of multimedia technologies, as image data has been extensive and large-scaled, the problem of increasing the time needed to retrieve the desired image is gradually critical. Image retrieval system that allows users to quickly and accurately search for the desired image information has been researched for a long time. However, in the case of content-based image retrieval representative Color Histogram, Color Coherence Vectors (CCV), Scale Invariant Feature Transform (SIFT) used in sensitive to changes in brightness, rotation, there is a problem that can occur misrecognized division off the power. In this paper, in order to evaluate the video retrieval system proposed, no change in brightness, respectively 0°, 90°, 180°, 270° rotated brightness up based on the case of changing, when the brightness down the results were compared with the performance evaluation of the system is an average of about 2% to provide the difference in performance due to changes in brightness, color histogram is an average of about 12.5%, CCV is an average of about 12.25%, it appeared in the SIFT is an average of about 8.5%, Thus, the proposed system of the variation width of the smallest in average about 2%, was confirmed to be robust to changes in the brightness and rotation than the existing systems.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.306-308
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• 2006

We propose an attention based object recognition system, to recognize object fast and robustly. For this we calculate visual stimulus degrees and make saliency maps. Through this map we find a strongly attentive part of image by stimulus degrees, where local features are extracted to recognize objects.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1098-1102
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• 2014

Localization of aerial vehicles and map building of flight environments are key technologies for the autonomous flight of small UAVs. In outdoor environments, an unmanned aircraft can easily use a GPS (Global Positioning System) for its localization with acceptable accuracy. However, as the GPS is not available for use in indoor environments, the development of a SLAM (Simultaneous Localization and Mapping) system that is suitable for small UAVs is therefore needed. In this paper, we suggest a vision-based SLAM system that uses vision sensors and an AHRS (Attitude Heading Reference System) sensor. Feature points in images captured from the vision sensor are obtained by using GPU (Graphics Process Unit) based SIFT (Scale-invariant Feature Transform) algorithm. Those feature points are then combined with attitude information obtained from the AHRS to estimate the position of the small UAV. Based on the location information and color distribution, a Gaussian process model is generated, which could be a map. The experimental results show that the position of a small unmanned aircraft is estimated properly and the map of the environment is constructed by using the proposed method. Finally, the reliability of the proposed method is verified by comparing the difference between the estimated values and the actual values.

• Journal of Korea Multimedia Society
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• v.16 no.9
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• pp.1057-1066
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• 2013

Personal verification using finger-knuckle-print(FKP) uses lines and creases at the finger-knuckle area, so the orientation information of texture is an important feature. In this paper, we propose an effective FKP verification method which extracts keypoints using SIFT algorithm and matches the keypoints by vector similarity. The vector is defined as a direction vector which connects a keypoint extracted from a query image and a corresponding keypoint extracted from a reference image. Since the direction vector is created by a pair of local keypoints, the direction vector itself represents only a local feature. However, it has an advantage of expanding a local feature to a global feature by comparing the vector similarity among vectors in two images. The experimental results show that the proposed method is superior to the previous methods based on orientation codes.

• Korean Journal of Remote Sensing
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• v.27 no.3
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• pp.359-367
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• 2011

A suitable pan-sharpening method has to be chosen with respect to the used spectral characteristic of the multispectral bands and the intended application. The research on pan-sharpening algorithm in improving the accuracy of image classification has been reported. For a classification, preserving the spectral information is important. Other applications such as road detection depend on a sharp and detailed display of the scene. Various criteria applied to scenes with different characteristics should be used to compare the pan-sharpening methods. The pan-sharpening methods in our research comprise rather common techniques like Brovey, IHS(Intensity Hue Saturation) transform, and PCA(Principal Component Analysis), and more complex approaches, including wavelet transformation. The extraction of matching pairs was performed through SIFT descriptor and Canny edge detector. The experiments showed that pan-sharpening techniques for spatial enhancement were effective for extracting point and linear features. As a result of the validation it clearly emphasized that a suitable pan-sharpening method has to be chosen with respect to the used spectral characteristic of the multispectral bands and the intended application. In future it is necessary to design hybrid pan-sharpening for the updating of features and land-use class of a map.

• Journal of the Korea Society of Computer and Information
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• v.13 no.7
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• pp.51-57
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• 2008

In recent computer vision or robotics fields, the research area of object recognition from image using low cost web camera or other video device is performed actively. As study for this, there are various methodologies suggested to retrieve objects in robotics and vision research areas. Also, robotics is designed and manufactured to aim at doing like human being. For instance, a person perceives apples as one see apples because of previously knowing the fact that it is apple in one's mind. Like this, robotics need to store the information of any object of what the robotics see. Therefore, in this paper, we propose an methodology that we can rapidly recognize objects which is stored in object database by using SIFT (scale invariant feature transform) algorithm to get information about the object. And then we implement the methodology to enable to recognize simultaneously multiple objects in an image.

• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.879-888
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• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.