• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.1619-1622
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• 2005

본 논문에서는 로봇이 작업을 계획하기 위해 필요한 3차원 작업 공간을 세 가지의 컨텍스트(context)들을 이해함으로써 빠르게 모델링하는 새로운 기법을 소개 하고 있다. 로봇이 사람과 비슷한 속도와 정확도로 작업 공간을 이해하고 모델링하는 것에 초점을 두고 있으며 이를 위해 작업 공간상의 특징적인 세 가지의 컨텍스트(작업공간의 간략화를 위한 전체 공간상의 평면특징, 데이터베이스에 미리 정의된 물체 그리고 로봇의 주어진 작업에 따라 다양한 상세함을 갖는 그 외의 장애물)를 정의하였고, 그것들을 빠르게 이해함으로써 어떻게 3차원 작업 공간을 형성하는지 설명하고 있다. 본 논문에서 3 차원 정보를 갖는 scale invariant feature transformation(SIFT)를 stereo-sis SIFT 로 간주했으며 이를 이용하여 위에서 언급한 컨텍스트들을 이해하였고 다양한 카메라의 위치로부터 얻어지는 여러 개의 장면들을 정합하였다. 또한, 실험을 통해 제안한 방법의 타당성도 검증하였다.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.118-129
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• 2011

In this paper, we suggest a new camera capturing and synthesizing algorithm with the multi-captured left and right images for the better comfortable feeling of 3D depth and also propose 3D image capturing hardware system based on the this new algorithm. We also suggest the simple control algorithm for the calibration of camera capture system with zooming function based on a performance index measure which is used as feedback information for the stabilization of focusing control problem. We also comment on the theoretical mapping theory concerning projection under the assumption that human is sitting 50cm in front of and watching the 3D LCD screen for the captured image based on the modeling of pinhole Camera. We choose 9 segmentations and propose the method to find optimal alignment and focusing based on the measure of alignment and sharpness and propose the synthesizing fusion with the optimized 9 segmentation images for the best 3D depth feeling.

• Journal of Satellite, Information and Communications
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• v.9 no.4
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• pp.32-37
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• 2014

The panorama is a good alternative to overcome narrow FOV under study in robot vision, stereo camera and panorama image registration and modeling. The panorama can materialize view with angles wider than human view and provide realistic space which make feeling of being on the scene based on realism. If we use all correspondence, it is too difficult to find strong features and correspondences and assume accurate homography matrix in geographic changes in images as load of calculation increases. Accordingly, we used SURF algorithm to estimate overlapping areas with high similarity by comparing and analyzing the input images' histograms and to detect features. And we solved the problem of input order so we can make panorama by input images without order.

• International journal of advanced smart convergence
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• v.8 no.1
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• pp.65-74
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• 2019

3D file formats typically include OBJ (Wavefront file format), STL (STereoLithography), and FBX (Filmbox). Each format has limitations depending on its configuration and usage, and supported formats are different depending on the software application. glTF helps uniform integration of 3D file formats and allows for more efficient transmission of large 3D geometry files by organizing them in a binary format. This paper presents explanation on OBJ, FBX, and STL which are major examples of existing 3D file formats. It also explains the concept and characteristics of glTF and compares its performance with other 3D file formats on the web. The loading time and packets of each 3D file format are measured according to the web browser environment by means of Google Chrome, Firefox and Microsoft Edge. Experimental results show that glTF is the most efficient and that it exhibits the best performance. As to STL, relatively excessive traffic was observed. This study is expected to contribute to reducing rendering time on the web as 3D file formats are used.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.735-737
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• 2016

In this paper, we conducted a test of the 3D printer injection method and LSU (Laser Scanning Unit) feature a fusion of the polygon mirror scanning system that is the core mechanism operation for 3D printers for office laser printers SLA system. These tests ensure that the laser was operating and control well was confirmed that a certain point is output to the X-axis by means of a laser module and a polygon mirror. And confirmed after the F-theta lens is incident on the fixed laser power of the beam, and correction according to the correction beam on the mirror reflection was confirmed jineunji the focus according to the Z-axis upper plate.

• Journal of Korea Water Resources Association
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• v.56 no.spc1
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• pp.1027-1036
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• 2023

Coastal topographic information is crucial in coastal management, but point measurment based approeaches, which are labor intensive, are generally applied to land and underwater, separately. This study introduces an efficient method enabling land and undetwater surveys using an unmanned aerial vehicle (UAV). This method involves applying two different algorithms to measure the topography on land and water depth, respectively, using UAV imagery and merge them to reconstruct whole coastal digital elevation model. Acquisition of the landside terrain is achieved using the Structure-from-Motion Multi-View Stereo technique with spatial scan imagery. Independently, underwater bathymetry is retrieved by employing a depth inversion technique with a drone-acquired wave field video. After merging the two digital elevation models into a local coordinate, interpolation is performed for areas where terrain measurement is not feasible, ultimately obtaining a continuous nearshore terrain. We applied the proposed survey technique to Jangsa Beach, South Korea, and verified that detailed terrain characteristics, such as berm, can be measured. The proposed UAV-based survey method has significant efficiency in terms of time, cost, and safety compared to existing methods.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• Journal of Korean Society for Geospatial Information Science
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• v.11 no.2 s.25
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• pp.29-37
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• 2003

An approach is described for automatic measuring of GCP's image coordinates from SPOT imagery and focused on the fulfillment an automatic orientation of satellite images. For the orientation of a stereopair of digital images, firstly, GCP(Ground Control Point) should be selected and then the work for measuring of image coordinates correspond to GCPs is required. In this study, we propose the method for extracting the GCP's image coordinates automatically using an image patch for control points and auxiliary points matching. For the evaluation of measurement accuracy, a comparison between points those are extracted manually and automatically by a proposed method have made. Finally, we shows the feasibility of automatic image coordinates measurment by applying in stereo modeling for SPOT images.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.5C
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• pp.505-513
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• 2009

This paper proposes a real-time foreground segmentation and background substitution method for protecting the privacy on visual communication. Previous works on this topic have some problems with the color and shape of foreground and the capture device such as stereo camera. we provide a solution which can segment the foreground in real-time using fixed mono camera. For improving the performance of a foreground extraction, we propose the Temporal Foreground Probability Model (TFPM) by modeling temporal information of a video. Also we provide an boundary processing method for natural and smooth synthesizing that using alpha matte and simple post-processing method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.142-144
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• 2016

Recent promising technologies of the manufacturing sector interest, and the interest in 3D printing that is expected to cause a huge ripple effect rapidly, and various types of products advertised in accordance with the falling price of 3D printers is spreading. However, the personal 3D printers that are currently being advertised is used for Injection output of the simple type that does not require a high processing precision in accordance with the limitation of technical performance, and consumer satisfaction is very low. In this paper, we propose a 3D printer, 3D precision to overcome existing limitations in the way the printer's high SLA 3D printer that combines injection method and the LSU (Laser Scanning Unit) in the office laser printer polygon mirror scanning method. 3D printers which are proposed to improve the accuracy and manufacturing speed is expected to replace the existing entry-level 3D printer.