• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.

• Journal of the Korean GEO-environmental Society
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• v.17 no.8
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• pp.29-37
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• 2016

In order to prevent leakage of contaminants in offshore landfill, vertical barrier should be installed. Vertical barrier should be installed at designed depth of seabed to prevent the horizontal transport of contaminant in the subsurface. In this study, the seepage and contaminant transport in the subsurface according to embedded depth of vertical barrier were analyzed by using 2-D finite element analysis program SEEP/W and 3-D finite difference analysis program Visual Modflow. Numerical modelling results show that seepage flux and contaminant transport in seabed was greatly reduced when vertical barrier was installed at certain depth of low permeable layer. Therefore, the determination of minimum embedded depth for preventing contaminant leakage is helpful to design the economical vertical barrier.

• Korean Institute of Interior Design Journal
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• v.22 no.5
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• pp.135-142
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• 2013

This research regards that experiencing certain space according to looking through sensations of body will finally make visual perceptional experience to happen. Our bodies incorporate sensible experience along with interactions with surrounding environment while making movements. The analysis of Seongyojang in Gangleung through top and bottom, depth, movement and experience space which are Merleau Ponty's phenomenological space elements has led to the following conclusions. First, the up and down directivity inherent in Seongyojang has different directions in movements by the axis of plane. Second, the depth by the correlation between things and bodies shows the interactions with things and the depth of space rendered by the servants' quarters of '一字形' and the overlapping effect from the movement between buildings can be seen and felt. Third, mobility is focused on the surroundings for the movements of body and thing. Fourth, the experienced space remains as what it is and is experienced through the experience of traditional cultures. The temporality where the past and the present subsist is given with the application of the modern living pattern in the traditional space. That is, the space from the point of phenomenological view makes the visual-perceptual experience possible through the senses of body, with which the space is experienced and sensed. In other words, the space from the phenomenological viewpoint makes visual-perceptual experience possible through the senses of body so that the space may be experienced and perceived. Through this study, a new viewpoint toward Korean traditional space is expected to be discovered.

• Imaging Science in Dentistry
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• v.42 no.4
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• pp.243-247
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• 2012

Purpose: This study was performed to compare the inverted digital images and film-based images of dry pig mandibles to measure the periodontal bone defect depth. Materials and Methods: Forty 2-wall bone defects were made in the proximal region of the premolar in the dry pig mandibles. The digital and conventional radiographs were taken using a Schick sensor and Kodak F-speed intraoral film. Image manipulation (inversion) was performed using Adobe Photoshop 7.0 software. Four trained examiners made all of the radiographic measurements in millimeters a total of three times from the cementoenamel junction to the most apical extension of the bone loss with both types of images: inverted digital and film. The measurements were also made in dry mandibles using a periodontal probe and digital caliper. The Student's t-test was used to compare the depth measurements obtained from the two types of images and direct visual measurement in the dry mandibles. A significance level of 0.05 for a 95% confidence interval was used for each comparison. Results: There was a significant difference between depth measurements in the inverted digital images and direct visual measurements (p>|t|=0.0039), with means of 6.29 mm ($IC_{95%}$:6.04-6.54) and 6.79 mm ($IC_{95%}$:6.45-7.11), respectively. There was a non-significant difference between the film-based radiographs and direct visual measurements (p>|t|=0.4950), with means of 6.64mm($IC_{95%}$:6.40-6.89) and 6.79mm($IC_{95%}$:6.45-7.11), respectively. Conclusion: The periodontal bone defect measurements in the inverted digital images were inferior to film-based radiographs, underestimating the amount of bone loss.

• The Journal of the Korea Contents Association
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• v.16 no.7
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• pp.431-438
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• 2016

In this paper, we present an upsampling technique for depth map image using color and depth weights. First, we construct a high-resolution image using the bilinear interpolation technique. Next, we detect a common edge region using RGB color space, HSV color space, and depth image. If an interpolated pixel belongs to the common edge region, we calculate weighting values of color and depth in $3{\times}3$ neighboring pixels and compute the cost value to determine the boundary pixel value. Finally, the pixel value having minimum cost is determined as the pixel value of the high-resolution depth image. Simulation results show that the proposed algorithm achieves good performance in terns of PSNR comparison and subjective visual quality.

• Journal of the korean academy of Pediatric Dentistry
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• v.29 no.4
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• pp.600-606
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• 2002

The purpose of this study was to evaluate the diagnostic validity of an incipient occlusal caries using argon laser fluorescence. Extracted human premolars and molars with enamel carious lesion of occlusal surface were assessed using visual examination, visual examination with probing, argon laser fluorescence and histologic depth of carious lesion. The results in each of all the three detection methods were compared to the assessment of histologic depth of carious lesion using polarized microscope. The results from the present study can be summarized as follows; 1. There was highly correlation between the histologic depth of occlusal caries and all three detection methods(P<0.01). 2. The reproducibility(kappa value) of the visual examination, visual examination with probing and argon laser fluorescence between the histologic depth of occlusal caries was 0.189, 0.128, 0.472. The highest correlation was seen between detection of occlusal caries by argon laser fluorescence and histologic scores by polarized microscope. The results from this study indicated that argon laser fluorescence considered to be accurate and reliable method in detecting occlusal caries.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.940-943
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• 1996

In teleoperating, as seeing the monitor screen obtained from a camera instituted in the working environment, human operator generally controls the slave arm. Because we can see only 2-D image in a monitor, human operator does not know the depth information and can not work with high accuracy. In this paper, we proposed a traded control method using an visual sensor for the purpose of solving this problem. We can control a teleoperation system with precision when we use the proposed algorithm. Not only a human operator command but also an autonomous visual sensor feedback command is given to a slave arm for the purpose of coincidence current image features and target image features. When the slave arm place in a distant place from the target position, human operator can know very well the difference between the desired image features and the current image features, but calculated visual sensor command have big errors. And when the slave arm is near the target position, the state of affairs is changed conversely. With this visual sensor feedback, human does not need coincide the detail difference between the desired image features and the current image features and proposed method can work with higher accuracy than other method without, sensor feedback. The effectiveness of the proposed control method is verified through series of experiments.

• Korean Institute of Interior Design Journal
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• v.25 no.3
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• pp.3-10
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• 2016

The unexpected expansion of the built environment has allowed for high-density and high-rise buildings. As high-density dwellings compromise privacy, the requirements for balancing between interacting with others and protecting privacy are increasing. In this respect, Korean traditional architecture provides privacy through a proper balance of openness and closure in the courtyard garden. However, it is difficult to analyze privacy quantitatively, as it depends on the individual experience and psychology. The analyzing for visual privacy is a significant issue to resolve a conflict with others and enhance human's comfort. Therefore, this paper addresses the assumption that visual privacy could ultimately be quantified based on the concept of prospect and refuge, one of the design strategies for psychological wellbeing. The purpose of this study is to examine visual privacy in the royal palace in Korea, Gyeongbokgung and Changdeokgung. It measures spatial configuration in each buildings using space syntax, and the area ratio of prospect and refuge through an image analysis with Adobe Photoshop CS6. The mathematical properties of connectivity, depth, control value, integration and the area ratio of prospect and refuge are partially available for quantifying visual privacy in buildings.

• Journal of Broadcast Engineering
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• v.21 no.1
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• pp.76-86
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• 2016

This study was investigated whether the perceived depth was changed depending on the measurement methods. In the method of direct comparison, virtual object with one of the various binocular disparities was presented in the frontal space with LEDs which were used for depth estimation for a binocular stimulus, while in the method of indirect comparison, visual object was presented in the frontal space but the LEDs were placed rightward at the angle of 45 degree from the mid-sagittal line. In these experimental setup, the depth of binocular stimulus was directly matched that of LED in direct comparison condition. In indirect comparison condition, however, observer estimated the depth of binocular stimulus, turned one's head rightward to the array of LEDs and turned on the LED which was supposed to be the same depth as binocular stimulus. Additionally, it was investigated whether the perceived depth was different depending on observer's stereo acuity. The results showed that perceived depths measured in the direct comparison were more similar to the depth predicted from geometry than those in the indirect comparison, and that the perceived depths from observers with high stereo acuity were similar to the predicted depth from geometry those from observers with low stereo acuity. These results indicated that stereoscopic depths of the binocular stimuli would vivid and compelling when binocular stimuli was simultaneously presented with real objects in the same visual space, like a mixed reality.

• Journal of the Ergonomics Society of Korea
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• v.10 no.1
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• pp.11-22
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• 1991

This paper aims to examine experimentally the difference of subjectively measured degree of depth between two dimensional (2D) and three dimensional (3D) images. For this paper, two experiments were conducted; in the first experiment, the subjects were asked to estimate the distance between two objects presented with different depths, while in the second experiment, the subjects' role was to rank three objects in the order of distance from the screen. In both experiments, the objects were presented either in 2D or 3D images. The results of the experiments show that the use of 3D images can induce more accurate and more stable estimates of distance than the use of 2D images. However, it is also noted that the absolute degree of depth is not the unique criteria utilized by the subjects for the distinction of small differences of depth.