• Journal of Korea Multimedia Society
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• v.14 no.2
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• pp.171-181
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• 2011

A vision-based method for positioning and orienting of pallets is presented in this paper, which guides autonomous forklifts to engage pallets automatically. The method uses a single camera mounted on the fork carriage instead of two cameras for stereo vision that is conventionally used for positioning objects in 3D space. An image back-projection technique for determining the orient of a pallet without any fiducial marks is suggested in tins paper, which projects two feature lines on the front plane of the pallet backward onto a virtual plane that can be rotated around a given axis in 3D space. We show the fact that the rotation angle of the virtual plane on which the back-projected feature lines are parallel can be used to describe the orient of the pallet front plane. The position of the pallet is determined by using ratio of the distance between the back-projected feature lines and their real distance on the pallet front plane. Through a test on real pallet images, we found that the proposed method was applicable to real environment practically in real-time.

• 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.

• The Journal of the Korea Contents Association
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• v.9 no.5
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• pp.13-23
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• 2009

One of the main purpose of multiple-view image processing technology is support realistic 3D image to device user by using multiple viewpoint display devices and compressed data restoration devices. This paper proposes a multiple view image synthesis scheme based on RAM disk which makes possible to browse 3D images generated by applying effective composing method to real time input stereo images. The proposed scheme first converts input images to binary image. We applies edge detection algorithm such as Sobel algorithm and Prewiit algorithm to find edges used to evaluate disparities from images of 4 multi-cameras. In addition, we make use of time interval between hardware trigger and software trigger to solve the synchronization problem which has stated ambiguously in related studies. We use a unique identifier on each snapshot of images for distributed environment. With respect of performance results, the proposed scheme takes 0.67 sec in each binary array. to transfer entire images which contains left and right side with disparity information for high quality 3D image browsing. We conclude that the proposed scheme is suitable for real time 3D applications.

• The Journal of the Korea Contents Association
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• v.10 no.6
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• pp.1-9
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• 2010

Recently, 3D stereoscopic display such as 3D stereoscopic cinemas and 3D stereoscopic TV is getting a lot of interest. In general, a stereo image can be used in 3D stereoscopic display. In other hands, for 3D auto stereoscopic display, the elemental images should be generated through visualization from every camera in a lens array. Since a lens array consists of several cameras, it takes a lot of time to generate the elemental images with respect to 3D virtual space, specially, if a large bio-medical volume data is in the 3D virtual space, it will take more time. In order to improve the problem, in this paper, we construct an octree for a given bio-medical volume data and then propose a method to generate the elemental images through efficient rendering of the Octree data using GPU. Experimental results show that the proposed method can obtain more improvement comparable than conventional one, but the development of more efficient method is required.

• Journal of the Korea Society of Computer and Information
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• v.11 no.6 s.44
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• pp.279-287
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• 2006

This paper proposes a method to detect fall action by using stereo images to recognize emergency situation. It uses 3D information to extract the visual information for learning and testing. It uses HMM(Hidden Markov Model) as a recognition algorithm. The proposed system extracts background images from two camera images. It extracts a moving object from input video sequence by using the difference between input image and background image. After that, it finds the bounding rectangle of the moving object and extracts 3D information by using calibration data of the two cameras. We experimented to the recognition rate of fall action with the variation of rectangle width and height and that of 3D location of the rectangle center point. Experimental results show that the variation of 3D location of the center point achieves the higher recognition rate than the variation of width and height.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.3
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• pp.529-536
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• 2012

Recently, the interest of 3D contents are increased and viewers demand a variety of 3D contents. In such circumstances, underwater 3D contents are an alternative to meet the demands of viewers. Cause that underwater mass density is 1.33 times that in air the objects in underwater is bigger and closer in real. Therefore it needs to modify the distance between cameras, the distance to objects and the convergence value. In this paper, we present the method to set optimal depth values with the particularities of underwater space. In addition, through the case of underwater 3D production we present the method of underwater 3D contents development. We expect that a lot of material with colorful, variety marine organism in underwater will be made of 3D contents.

• Journal of Korea Game Society
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• v.5 no.3
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• pp.3-10
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• 2005

We present the computer table tennis game using player's swing motion. We need to transform a real world coordinate into a virtual world coordinate in order to hit the virtual ball. We can not get a correct 3-dimension position of racket in environment that using one camera or simple image processing. Therefore we use Augmented Reality (AR) concept to develop the game. This paper shows the AR table tennis game using gesture and method to develop the 3D interaction game that only using one camera without any motion detection device or stereo cameras. Also, we use a scan line method to recognize gesture for speedy processing. The game is developed using ARtoolkit and DirectX that is popular tool of SDK for game development.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.10
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• pp.162-170
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• 2013

In recent years, the interests and needs of the Pedestrian Protection System (PPS), which is mounted on the vehicle for the purpose of traffic safety improvement is increasing. In this paper, we propose a pedestrian candidate window extraction and unit cell histogram based HOG descriptor calculation methods. At pedestrian detection candidate windows extraction stage, the bright ratio of pedestrian and its circumference region, vertical edge projection, edge factor, and PCA reconstruction image are used. Dalal's HOG requires pixel based histogram calculation by Gaussian weights and trilinear interpolation on overlapping blocks, But our method performs Gaussian down-weight and computes histogram on a per-cell basis, and then the histogram is combined with the adjacent cell, so our method can be calculated faster than Dalal's method. Our PCA reconstruction error based pedestrian detection candidate window extraction method efficiently classifies background based on the difference between pedestrian's head and shoulder area. The proposed method improves detection speed compared to the conventional HOG just using image without any prior information from camera calibration or depth map obtained from stereo cameras.

• Journal of information and communication convergence engineering
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• v.8 no.6
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• pp.645-650
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• 2010

In this paper, we present the effect of binocular cues which plays crucial role for the visualization of a stereoscopic or 3D image. This study is useful in extracting depth and disparity information by image processing technique. A linear relation between the object distance and the image distance is presented to discuss the cause of cybersickness. In the experimental results, three dimensional view of the depth map between the 2D images is shown. A median filter is used to reduce the noises available in the disparity map image. After the median filter, two filter algorithms such as 'Gabor' filter and 'Canny' filter are tested for disparity visualization between two images. The 'Gabor' filter is to estimate the disparity by texture extraction and discrimination methods of the two images, and the 'Canny' filter is used to visualize the disparity by edge detection of the two color images obtained from stereoscopic cameras. The 'Canny' filter is better choice for estimating the disparity rather than the 'Gabor' filter because the 'Canny' filter is much more efficient than 'Gabor' filter in terms of detecting the edges. 'Canny' filter changes the color images directly into color edges without converting them into the grayscale. As a result, more clear edges of the stereo images as compared to the edge detection by 'Gabor' filter can be obtained. Since the main goal of the research is to estimate the horizontal disparity of all possible regions or edges of the images, thus the 'Canny' filter is proposed for decipherable visualization of the disparity.

• Journal of Animal Environmental Science
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• v.6 no.2
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• pp.105-112
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• 2000

The objective of this study was to determine the teat locations and to develop a teat cup handling system operated by a robot. The results of this study were summarized as follows: 1. The teat cup attaching and detaching operation system developed in this study consists of a control computer, a five-dimensional robot(PERFORMER-MK2), a DC servo gripper, a robot controller, two CCD-cameras (WV-vp410), an image grabber board(DT3153), a model cow, and a teat cup unit. 2. The coordinates of teat locations were measured by a stereo image processing unit. The error ranges of teats coordinates measured were (x, y, z) = (0.83, 1.95, 0.81) mm. When those were transferred into the Robot Coordinate System(RCS) coordinate, the total error ranges measured were x = 0.9 mm, y = 2.0 mm, z = 0.9 mm. 3. The rates of success of teat cup attaching and detaching operation by a robot system were 91.5% on average; the operation time needed were 27.8 sec. Total working hours for the teat cup handling including image processing were 86.1 sec.