• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.97-104
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• 2005

Vision-based lane sensing systems require accurate and robust sensing performance in lane detection. Besides, there exists trade-off between the computational burden and processor cost, which should be considered for implementing the systems in passenger cars. In this paper, a stereo vision-based lane detection system is developed with considering sensor configuration aspects. An inverse perspective mapping method is formulated based on the relative correspondence between the left and right cameras so that the 3-dimensional road geometry can be reconstructed in a robust manner. A new monitoring model for estimating the road geometry parameters is constructed to reduce the number of the measured signals. The selection of the sensor configuration and specifications is investigated by utilizing the characteristics of standard highways. Based on the sensor configurations, it is shown that appropriate sensing region on the camera image coordinate can be determined. The proposed system is implemented on a passenger car and verified experimentally.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.169-174
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• 2002

In this paper, we suggest a new spatial information system called video GIS where video is used for spatial data construction and is integrated with map. We develop a prototype system of video GIS and apply it to roadside facility management. The main functions supported by the suggested system are data collection, coordinate calculation and conversion, data construction, analysis, searching, and browsing. The stereo images and corresponding position data are collected by a vehicle named 4S-Van that has GPS, IMU, and cameras. The 3-D coordinates of the objects in the images, such as road sign, signal lamp, and building, can be calculated and constructed from the collected data. The spatial objects are displayed on both image and map, and can be searched and browsed, which enables visual and realistic browsing and management of spatial objects. Compared to conventional field survey used in roadside facility management, the method enables faster, easier, and more efficient construction of spatial data. The suggested video GIS can be applied not only to roadside facility management but also to many similar projects of central or local governments that are related to GIS.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.7
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• pp.834-841
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• 2004

Experimental study on the three-dimensional topology of hairpin packet structures in turbulent boundary layers were carried out. Two different Reynolds number based on momentum thickness, Re$\sub$$\theta$/=514 and 934 were generated in a blowing type wind tunnel under the condition of zero pressure gradient. Simultaneous measurements of velocity fields at a wall-normal plane and wall-parallel plane by a plane PIV and a Stereo-PIV systems. The two Nd:Yag laser systems and three CCD cameras were synchronized to obtain instantaneous velocity fields at the same time. To avoid optical noise at the crossing line by the two laser light sheets, a new optical arrangement using polarization was applied. The obtained velocity fields show the existence of hairpin packet structure vividly and the idealized hairpin vortex signature is confirmed by experiment. Two counter-rotating vortex pair which reflects the cutting plane of hairpin legs are found both side of a strong streaky structure when the wall-normal plane cuts the hairpin head.

• Archives of Plastic Surgery
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• v.50 no.1
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• pp.125-129
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• 2023

Three-dimensional (3D) video exoscopes are high-magnification stereo cameras that project onto monitors mounted in the operating room, viewable from different angles. Outside of plastic surgery, exoscopes have been shown to successfully improve the ergonomics of microsurgery, though sometimes with prolonged operating times. We compare a single surgeon's early experience performing free flap procedures from 2020 to 2021 using either a binocular microscope or a 3D video exoscope. Ten procedures were performed with the standard operating microscope and 8 procedures with the 3D exoscope. The microsurgeon, having minimal prior experience using an exoscope, reported less neck discomfort following the free flap procedures performed with the exoscope compared with the binocular surgical microscope. Total average operating time was comparable between the standard surgical microscope and the 3D exoscope (13.7 vs. 13.4 hours, p = 0.34). Our early experience using a 3D exoscope in place of a standard optical microscope demonstrated that the exoscope shows promise, offering an ergonomic alternative during microvascular reconstruction without increasing overall operating times. Future studies will compare free flap ischemia time between cases performed using the exoscope and the conventional binocular microscope. Medical Subject Headings authorized following words: free tissue flaps; operating rooms; ergonomics; microsurgery.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.3
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• pp.145-154
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• 2017

In recent years, demand for 1 / 1,000 digital map production has increased in various fields such as construction and urban planning. As a result, the use of low-cost non-metric cameras that replace expensive aerial photogrammetry equipment is required. In Korea, researches are being continuously carried out to produce a large scale digital map by photographing a small target area with a non-metric camera. However, due to the limitation of the accuracy of the non-metric camera, it is difficult to do digital mapping with stereoscopic photographs. In this study, we tried to verify the possibility of large-scale digital mapping to utilize non-metric camera for public survey. For this purpose, the accuracy of the digital mapping results of the non-metric camera and the results of the DMC camera were compared and analyzed. After performing in-situ self-calibration including 8 standard additional parameters, we plotted to a scale of 1/1,000 and confirmed that the RMSE is suitable for public survey accuracy of ${\pm}0.145m$ in horizontal and ${\pm}0.153$ m in vertical.

• Journal of Internet Computing and Services
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• v.18 no.4
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• pp.61-67
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• 2017

Recently, CCTV has been combined with areas such as big data, artificial intelligence, and image analysis to detect various abnormal behaviors and to detect and analyze the overall situation of objects such as people. Image analysis research for this intelligent video surveillance function is progressing actively. However, CCTV images using 2D information generally have limitations such as object misrecognition due to lack of topological information. This problem can be solved by adding the depth information of the object created by using two cameras to the image. In this paper, we perform background modeling using Mixture of Gaussian technique and detect whether there are moving objects by segmenting the foreground from the modeled background. In order to perform the depth information-based segmentation using the RGB information-based segmentation results, stereo-based depth maps are generated using two cameras. Next, the RGB-based segmented region is set as a domain for extracting depth information, and depth-based segmentation is performed within the domain. In order to detect the center point of a robustly segmented object and to track the direction, the movement of the object is tracked by applying the CAMShift technique, which is the most basic object tracking method. From the experiments, we prove the efficiency of the proposed object detection and tracking method using the RGB-D model.

• The KIPS Transactions:PartB
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• v.13B no.2 s.105
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• pp.105-114
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• 2006

In ubiquitous environment where various kinds of computers are embedded in persons, objects and environment and they are interconnected and can be used in my place as necessary, different types of data need to be exchanged between heterogeneous machines through home network. In the environment, the efficient processing, transmission and monitoring of image data are essential technologies. We need to make research not only on traditional image processing such as spatial and visual resolution, color expression and methods of measuring image quality but also on transmission rate on home network that has a limited bandwidth. The present study proposes a new motion vector estimation algorithm for transmitting, processing and controlling image data, which is the core part of contents in home network situation and, using algorithm, implements a real time monitoring system of multi dimensional images transmitted from multiple cameras. Image data of stereo cameras to be transmitted in different environment in angle, distance, etc. are preprocessed through reduction, magnification, shift or correction, and compressed and sent using the proposed metamorphosis hierarchical motion vector estimation algorithm for the correction of motion. The proposed algorithm adopts advantages and complements disadvantages of existing motion vector estimation algorithms such as whole range search, three stage search and hierarchical search, and estimates efficiently the motion of images with high variation of brightness using an atypical small size macro block. The proposed metamorphosis hierarchical motion vector estimation algorithm and implemented image systems can be utilized in various ways in ubiquitous environment.

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.105-114
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• 2006

In this paper, 3D input and output systems for a web-based real-time 3D video communication system using IEEE 1394 digital cameras, Intel Xeon Server system and Microsoft Directshow library is proposed. And some conditions for optimizing the operations of the stereo camera, 3D display and signal processing system are analyzed. Input & output systems are carefully selected, which can satisfy the required optimization conditions and the final 3D video communication system is implemented by using three optimized devices. The overall control system is developed with Microsoft Visual C++.Net and Microsoft DirectX 9.1 SDK. Some experimental results show that the observer can feel the natural presence from multi-view(4-view) 3D video of server system in real-time and also can feel the natural presence from 3D video of client system and finally suggest an application possibility of the proposed web-based real-time 3D video communication in real fields.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.1
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• pp.1-12
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• 2012

This paper is to propose a method to obtain a new digital hologram content, a high value-added digital content, by manipulating one or more existing digital hologram contents or depth informations. For the depth informations, we use both the ones converted from disparities by stereo matching and the ones taken by time-of-flight (TOF) depth cameras. For them, we analyze the properties and their differences for the two kinds of depth informations and propose a conversion method to homogenize them. By using them, we propose a method to convert and synthesize the depth informations to calculate a new CGH. Also, we propose a method to get a new digital hologram content by synthesizing the digital holograms themselves according to their linearity. The proposed methods are experimented with various depth informations and digital holograms to show that they are very effective as the manipulating methods for digital hologram contents.