• Journal of Biomedical Engineering Research
• /
• v.37 no.3
• /
• pp.105-111
• /
• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Journal of the Korea Society of Computer and Information
• /
• v.16 no.7
• /
• pp.49-58
• /
• 2011

Augmented Reality(AR) assists human's cognitive ability through the information visualization by substantiating information about virtual situation. This technology is studied in a variety of ways including education, design, industry, and so on, by various supply of information devices equipped with cameras and display monitors. Since the most of the AR system depends on limited interaction that responds to the order from user, it can not reflect diverse real world situation. In this study, we suggest a knowledge based augmented reality system, which is composed of context awareness agent that provides recognized context information, along with knowledge based component that provides intelligent capability by utilizing domain knowledges. With this capability, the augmented object can generate dynamic model intelligently by reflecting context information, and can make the interaction possible among the multiple objects. We developed rule based context awareness system along with 3D model generation, and tested interaction among the augmented objects. And we suggest a framework that can provide a convenient way of developing augmented reality system for user.

• Journal of the Korean Institute of Telematics and Electronics D
• /
• v.35D no.12
• /
• pp.99-107
• /
• 1998

A stereo vision system such as the structure of human's eyes has two cameras at separated positions from which we can obtain two input images and then put them together to create 3-D image. It can show more virtual effect than the conventional 2-D image system. But, the stereo image system has to control the convergence angle so that the stereo disparity could always be zero because observers can be fatigued and unconscious of stereo image in conditions that the stereo disparity is not zero for a long work. Therefore, in the paper, optical JTC system which can process adaptive tracking of a specific moving object is proposed as a new approach to keep the stereo disparity to be zero. In this method, optical JTC system obtains the values of the relative locations of a moving objects in left and right images and then these values are used for maintaining the stereo disparity to be zero. Through some optical experiments the proposed stereo vision system is proved to be insensitive to background noises and operate in real-time.

• Journal of Digital Convergence
• /
• v.15 no.7
• /
• pp.27-39
• /
• 2017

To grasp the current status of smart campus and look for future directions, this study investigated the usage rate and perceived usefulness of digital devices and services by conducting online survey of 580 university students. The main results are as follows. First, smartphones have the highest ownership rate, followed by laptops, desktops, and digital cameras. Purchase intention of virtual reality devices is highest followed by smart watches/bands, and tablets. Second, mobilization in campus life is almost realized, however the usage of desktops is still high in education and administration context. Digital devices have been perceived particularly useful when searching and sharing information. Third, students use digital services such as search engines, messengers, and online libraries in their learning, and they use messengers, music and video services in their lives. Service usage rate and perceived usefulness are not proportional.

• Journal of Broadcast Engineering
• /
• v.26 no.5
• /
• pp.508-518
• /
• 2021

Recently as a result of covid 19, it has emphasis on the importance of non-contact. VR content has been attracting attention as an alternative to visual arts, media art, new media exhibitions and performances with limited offline activities. Although interest in 360 VR video contents such as VR contents for exhibitions and performances is increasing, research on immersion and satisfaction is focused on games and animation VR contents. In this paper, it verified the effect of the difference in the position and height of the VR camera in exhibitions and performances on the user's presence and satisfaction. For this experiment, the presence and satisfaction were measured after experiencing the VR contents of the convergence exhibition and performance filmed at different locations and heights. As a result of the experiment, the difference of VR camera's position had a significant effect on presence and satisfaction, the difference of VR camera's height had a significant effect only Realistic immersion of the presence.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.38 no.6
• /
• pp.611-622
• /
• 2020

As the advancement of technologies on indoor positioning systems and measuring devices such as LiDAR (Light Detection And Ranging) and cameras, the demands on analyzing and searching indoor spaces and visualization services via virtual and augmented reality have rapidly increasing. To this end, it is necessary to model 3D objects from measured data from real-world structures. In addition, it is important to store these structured data in standardized formats to improve the applicability and interoperability. In this paper, we propose a method to construct IndoorGML data, which is an international standard for indoor modeling, from point cloud data acquired from LiDAR sensors. After examining considerations that should be addressed in IndoorGML data, we present a construction method, which consists of free space extraction and connectivity detection processes. With experimental results, we demonstrate that the proposed method can effectively reconstruct the 3D model from point cloud.

• Journal of KIISE:Computer Systems and Theory
• /
• v.33 no.6
• /
• pp.354-362
• /
• 2006

This paper suggests a method for generating high qualify stereo video avatar to support visual communication in a CAVE$^{TM}$-like system. In such a system because of frequent change of light projected onto screens around user, it is not easy to extract user silhouette robustly, which is an essential step to generate a video avatar. In this study, we use an infrared reflective image acquired by a grayscale camera with a longpass filter so that the change of visible light on a screen is blocked to extract robust user silhouette. In addition, using two color cameras positioned at a distance of a binocular disparity of human eyes, we acquire two stereo images of the user for fast generation and stereoscopic display of a high quality video avatar without 3D reconstruction. We also suggest a fitting algorithm of a silhouette mask on an infrared reflective image into an acquired color image to remove background. Generated stereo images of a video avatar are texture mapped into a plane in virtual world and can be displayed in stereoscopic using frame sequential stereo method. Suggested method have advantages that it generates high quality video avatar taster than 3D approach and it gives stereoscopic feeling to a user 2D based approach can not provide.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.27 no.6
• /
• pp.741-747
• /
• 2009

For construction of 3D virtual city models, airborne digital cameras, laser scanners, multi-oblique photograph systems and other devices are currently being used. With such advanced techniques, precise 3D spatial information can be collected and high quality 3D city models can be built in a considerably large area. The 3D spatial information to be built has to provide the latest information that quickly reflects the causes of any change due to urban development. In this study, a UAV photogrammetric method using low cost UAV and digital camera was proposed to acquire and update 3D spatial information effectively on small areas where information continuously change. In the proposed UAV photogrammetric method, the elements of interior orientation were acquired through camera calibration and the vertical and oblique photographs were taken at 9 points and the 3D drawing of ground control points and buildings was performed using 20 images among the pictured images. This study also analyzed the accuracy of the proposed method comparing with ground survey data and digital map in order to examine whether the method can be used in on-demand 3D spatial information update on relatively small areas.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.26 no.4
• /
• pp.130-144
• /
• 2023

Recently, various positioning technologies are being researched based on signal-based positioning and image-based positioning to obtain accurate indoor location information. Among these, various studies are being conducted on image positioning technology that determines the location of a mobile terminal using images acquired through cameras and sensor data collected as needed. For video-based positioning, a method of determining indoor location is used by matching mobile terminal photos with virtual landmark images, and for this purpose, it is necessary to build indoor spatial information about various landmarks such as billboards, vending machines, and ATM machines. In order to construct indoor spatial information on various landmarks, a panoramic image in the form of a road view and accurate 3D survey results were obtained through c 13 buildings of the Electronics and Telecommunications Research Institute(ETRI). When comparing the 3D total station final result and the terrestrial lidar panoramic image coordinates, the coordinates and distance performance were obtained within about 0.10m, confirming that accurate landmark construction for use in indoor positioning was possible. By utilizing these terrestrial lidar achievements to perform 3D landmark modeling necessary for image positioning, it was possible to more quickly model landmark information that could not be constructed only through 3D modeling using existing as-built drawings.

• Journal of Intelligence and Information Systems
• /
• v.18 no.1
• /
• pp.1-21
• /
• 2012

In recent years, mobile phone has experienced an extremely fast evolution. It is equipped with high-quality color displays, high resolution cameras, and real-time accelerated 3D graphics. In addition, some other features are includes GPS sensor and Digital Compass, etc. This evolution advent significantly helps the application developers to use the power of smart-phones, to create a rich environment that offers a wide range of services and exciting possibilities. To date mobile AR in outdoor research there are many popular location-based AR services, such Layar and Wikitude. These systems have big limitation the AR contents hardly overlaid on the real target. Another research is context-based AR services using image recognition and tracking. The AR contents are precisely overlaid on the real target. But the real-time performance is restricted by the retrieval time and hardly implement in large scale area. In our work, we exploit to combine advantages of location-based AR with context-based AR. The system can easily find out surrounding landmarks first and then do the recognition and tracking with them. The proposed system mainly consists of two major parts-landmark browsing module and annotation module. In landmark browsing module, user can view an augmented virtual information (information media), such as text, picture and video on their smart-phone viewfinder, when they pointing out their smart-phone to a certain building or landmark. For this, landmark recognition technique is applied in this work. SURF point-based features are used in the matching process due to their robustness. To ensure the image retrieval and matching processes is fast enough for real time tracking, we exploit the contextual device (GPS and digital compass) information. This is necessary to select the nearest and pointed orientation landmarks from the database. The queried image is only matched with this selected data. Therefore, the speed for matching will be significantly increased. Secondly is the annotation module. Instead of viewing only the augmented information media, user can create virtual annotation based on linked data. Having to know a full knowledge about the landmark, are not necessary required. They can simply look for the appropriate topic by searching it with a keyword in linked data. With this, it helps the system to find out target URI in order to generate correct AR contents. On the other hand, in order to recognize target landmarks, images of selected building or landmark are captured from different angle and distance. This procedure looks like a similar processing of building a connection between the real building and the virtual information existed in the Linked Open Data. In our experiments, search range in the database is reduced by clustering images into groups according to their coordinates. A Grid-base clustering method and user location information are used to restrict the retrieval range. Comparing the existed research using cluster and GPS information the retrieval time is around 70~80ms. Experiment results show our approach the retrieval time reduces to around 18~20ms in average. Therefore the totally processing time is reduced from 490~540ms to 438~480ms. The performance improvement will be more obvious when the database growing. It demonstrates the proposed system is efficient and robust in many cases.