• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.583-587
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• 2009

In this paper we propose a new method of Depth-Image-Based Rendering (DIBR) for Free-viewpoint TV (FTV). In the proposed method, virtual viewpoint images are rendered with 3D warping instead of estimating the view-dependent depth since depth estimation is usually costly and it is desirable to eliminate it from the rendering process. However, 3D warping causes some problems that do not occur in the method with view-dependent depth estimation; for example, the appearance of holes on the rendered image, and the occurrence of depth discontinuity on the surface of the object at virtual image plane. Depth discontinuity causes artifacts on the rendered image. In this paper, these problems are solved by reconstructing disparity information at virtual camera position from neighboring two real cameras. In the experiments, high quality arbitrary viewpoint images were obtained.

• 로봇학회논문지
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• 제1권2호
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1999년도 KOBA 방송기술 워크샵 KOBA Broadcasting Technology Workshop
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• pp.49-56
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• 1999

In this paper, the general formula of disparity estimation based on Bayesian Maximum A Posteriori (MAP) algorithm is derived. The generalized formula is implemented with the plane configuration model and applied to multiple baselined stereograms. The probabilistic plane configuration model consists of independence and similarity among the neighboring disparities in the configuration. The independence probabilistic model reduces the computation and guarantees the discontinuity at the object boundary region. The similarity model preserves the continuity or the high correlation of disparity distribution. In addition, we propose a hierarchical scheme of disparity compensation in the application to multiple-view stereo images. According to the experiments, the derived formula and the proposed estimation algorithm outperformed other ones. The proposed probabilistic models are reasonable and approximate the pure joint probability distribution very well with decreasing the computations to O(n(D)) from O(n(D)4) of the generalized formula. And, the hierarchical scheme of disparity compensation with multiple-view stereos improves the performance without any additional overhead to the decoder.

• Journal of Information Processing Systems
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• 제19권4호
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• pp.483-497
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• 2023

Depth estimation is one of the most complicated and difficult problems to deal with in the light field. In this paper, a compound attention convolutional neural network (CAttNet) is proposed to extract depth maps from light field images. To make more effective use of the sub-aperture images (SAIs) of light field and reduce the redundancy in SAIs, we use a compound attention mechanism to weigh the channel and space of the feature map after extracting the primary features, so it can more efficiently select the required view and the important area within the view. We modified various layers of feature extraction to make it more efficient and useful to extract features without adding parameters. By exploring the characteristics of light field, we increased the network depth and optimized the network structure to reduce the adverse impact of this change. CAttNet can efficiently utilize different SAIs correlations and features to generate a high-quality light field depth map. The experimental results show that CAttNet has advantages in both accuracy and time.

• 동력기계공학회지
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• 제17권5호
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• pp.112-120
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• 2013

In this study, we propose an improved view-based navigation method for obstacle avoidance and evaluate the effectiveness of the method in real environments with real obstacles. The proposed method possesses the ability to estimate the position and rotation of a mobile robot, even if the mobile robot strays from a recording path for the purpose of avoiding obstacles. In order to achieve this, ego-motion estimation was incorporated into the existing view-based navigation system. The ego-motion is calculated from SURF points between a current view and a recorded view using a Kinect sensor. In conventional view-based navigation systems, it is difficult to generate alternate paths to avoid obstacles. The proposed method is anticipated to allow a mobile robot greater flexibility in path planning to avoid humans and objects expected in real environments. Based on experiments performed in an indoor environment using a mobile robot, we evaluated the measurement accuracy of the proposed method, and confirmed its feasibility for robot navigation in museums and shopping mall.

• 한국언어정보학회:학술대회논문집
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• 한국언어정보학회 1996년도 Language, Information and Computation = Selected Papers from the 11th Pacific Asia Conference on Language, Information and Computation, Seoul
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• pp.373-382
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• 1996

• 한국생산제조학회지
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• 제6권2호
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• pp.10-18
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• 1997

This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes know 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways : First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.

• 한국통신학회논문지
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• 제30권4C호
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• pp.253-261
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• 2005

본 논문에서는 MPEG 3DAV Coding에서 진행 중인 EE2 및 EE3의 다시점 영상 압축에 효율적으로 적용할 수 있는 블록기반 시차추정 기법을 제안한다. 제안된 기법은 영상의 특성을 이용하여 블록크기를 가변적으로 구성하는 적응적 시차 추정을 적용하여 영상의 화질을 개선하였다. 추정하고자하는 해당 블록의 주변 특성을 고려하여 탐색 영역을 가변적으로 설정함으로써 계산량을 줄이고 좌우방향으로 시차가 더 크다는 스테레오 영상의 특성을 이용하여 2진과 4진 트리 분해를 혼용함으르써 기존의 4진 트리만 이용한 정보 부호화 방식보다 부가정보량을 감소시킬 수 있다. 모의실험 결과 기존의 전 탐색 영역블록 정합기법(FBMA)에 비해 최대 $68\%$정도 계산량이 감소하고, PSNR면에서 기존 기법들보다 1dB 가량 개선되는 것을 알 수 있다.

• 대한기계학회논문집
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• 제17권1호
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• pp.112-119
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• 1993

본 연구에서는 강도의 측면에서 인벌류트 원통치차의 설계 및 성능평가를 돕 기위하여 퍼스널컴퓨터 상에서 간편히 수행할 수 있는 치차의 강도평가 시스템을 개발 한다.즉, 원통치차의 굽힘강도 및 면압강도와 이들과 관련하여 기하학적인 형상, 재질, 운전상태, 신뢰성, 안전계수 등 강도에 영향을 미치는 거의 모든 인자를 일목요 연하게 평가하고 이들이 강도에 미치는 영향을 판단할 수 있는 치차의 강도평가 과정 을 하나의 시스템으로 구성함으로써 설계현장 등에서 간편히 이용할 수 있도록 하고 최종적으로 설계의 자동화를 이룰 수 있도록 한다.

• 한국정보통신학회논문지
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• 제21권9호
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• pp.1697-1702
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• 2017

본 논문은 영상 기반 전방 추돌 경고를 위한 전방 차량 움직임 추정 알고리즘을 제안한다. 사전에 취득된 영상에서 차도 영역이 관심 영역으로 지정되고 거리 참조표가 생성된다. 거리 참조표는 실험 차량 위치인 기준 화소에서 관심 영역 상 차량 위치인 임의 화소까지 수평과 수직 실제 거리를 보여주다. 제안된 알고리즘은 관심영역에서 차량들을 검출하고, 검출된 차량들에게 레이블을 지정하고, 거리 참조표를 이용해 그들의 거리 정보를 저장한다. 그리고 나서 제안된 알고리즘은 프레임간 거리 변화를 이용해 접근 거리, 측방 접근 속도, 전방 접근 속도 같은 차량 움직임들을 추정한다. 도로 주행 동영상들을 이용한 전방 차량 움직임 추정 실험에서 제안된 알고리즘은 차량 움직임들에 대해 각각 평균 98.7%, 95.9%, 94.3%를 유효하게 추정하고 있다.