• Proceedings of the IEEK Conference
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• 2001.06d
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• pp.69-72
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• 2001

This paper proposes a positional estimation method for extracted line features by stereo vision. Based on given reference plane, planar surfaces corresponding the given plane are first extracted. Then, features in the planar surfaces are selected. Using the Extended Kalman Filter the feature positions are estimated by combining area- and feature-based stereo matching results. Experimental results show the proposed method is feasible.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.663-668
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• 1991

In order to navigate, mobile robot needs to avoid obstacles on his way. We describe a stereo vision method for detecting obstacles on the floor ground. With the knowledge of floor geometry, stereo images are transformed so that the relative views of obstacle to the floor are seen. After comparing the transformed images, obstacles information such as location and size are extracted and determined from the local disparities. Some experimental results are shown.

• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.13-16
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• 2000

This paper presents a simple class-D stereo amplifier using 3-phase full bridge circuit configurations which is controlled by a new current control switching method. Although this class-D amplifier has an only one current control loop with the proposed switching method, a good performance can be obtained. In this paper, a strategy for driving stereo signal amplifier with 3-phase full bridge is discussed. With the experimental results, usefulness of the proposed amplifier is confirmed.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1996-1999
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• 2003

Stereo matching is an important technique in the are of computer vision. There are already many theorems to find disparity map using stereo images. Usually, disparity is searched by using block matching. However block matching result in blocking effects caused by using fixed size window for computing pixel correlations. This paper suggests an efficient method to remove the blocking effect in stereo matching procedures.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.403-404
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• 2006

In this paper, we proposed muli-dimensional feature vector matching method combined with disparity smoothness constraint. The smoothness constraint was calculated using the difference between disparity of center pixel and those of 4-neighbor pixels. By applying proposed algorithm to IKONOS satellite stereo imagery, we obtained robust stereo matching result in urban areas.

• Korean Journal of Remote Sensing
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• v.29 no.5
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• pp.487-497
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• 2013

In this paper, a method of using high resolution stereo images is proposed to efficiently detect DSM errors. Automatically generated DSMs from stereo matching can be a useful solution to acquire DSM data in various aspects but they may include many gross errors coming from automatic processing. Therefore, a method to detect the gross errors on DSM is required for efficient DSM update. In this paper, stereo analysis using high resolution stereo images was investigated to represent reliability of DSM grids. The analysis enabled automatic detection of the gross errors which greatly influenced DSM quality. We used the reference DSM to assess reliability of our proposed method. We confirmed from experimental results that our method can be a valuable DSM errors analysis for efficient DSM correction. Our method is useful to analyze and improve DSM accuracy for various types of DSM and DEM. It is expected that our approach can be exploited for achievement of reliable DSM and DEM.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.7A
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• pp.676-682
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• 2002

In this paper, an effective stereo image compression and reconstruction technique using a new adaptively compensated-disparity prediction scheme is proposed. That is, by adaptively predicting the mutual correlation between the stereo image using the proposed method, the bandwidth of the stereo input image can be compressed to the level of the conventional 2D image and the predicted image also can be effectively reconstructed using this transmitted reference image and disparity data in the receiver. Especially, in the proposed method, once the feature values are extracted from the input stereo image, then the matching window size for the predicted image reconstruction is adaptively selected in accordance with the magnitude of this feature values. From this adaptive disparity estimation method, reduction of the mismatching probability of the disparity vectors is expected and as a result, the image quality in the reconstructed image can be improved. In addition, from some experiments using the CCETT's stereo images of 'Fichier', 'Manege' and 'Tunnel', it is shown that the proposed method improves the PSNR of the reconstructed image to about 9.08 dB on average by comparing with that of the conventional methods. And also, it is found that there is almost no difference between the original image and the predicted image reconstructed through the proposed method by comparison to that of the conventional methods.

• The KIPS Transactions:PartB
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• v.17B no.1
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• pp.63-68
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• 2010

In this paper, we propose a multiresolution stereo matching method based on genetic algorithm using edge information. The proposed approach considers the matching environment as an optimization problem and finds the solution by using a genetic algorithm. A cost function composes of certain constraints which are commonly used in stereo matching. We defines the structure of chromosomes using edge pixel information of reference image of stereo pair. To increase the efficiency of process, we apply image pyramid method to stereo matching and calculate the initial disparity map at the coarsest resolution. Then initial disparity map is propagated to the next finer resolution, interpolated and performed disparity refinement. We valid our approach not only reduce the search time for correspondence but alse ensure the validity of matching.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.36-42
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• 2002

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms. Several occupancy grid maps based on stereo vision using the proposed algorithm have been built and compared with the actual distance information to verify the validity of the proposed method.

• Journal of Korea Multimedia Society
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• v.8 no.4
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• pp.492-501
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• 2005

In this paper, we proposed the new segmentation method of optic nerve head and optic cub to consider the depth of optic nerve head on stereo fundus image. We analyzed the error factor of stereo matching on stereo fundus image, and compensated them. For robust extraction of optic nerve head and optic cub, we proposed the modified active contour model to consider the 3D depth of optic nerve head. As experiment result to various stereo fundus images, we confirmed that proposed method can segment optic nerve head and optic cup effectively.