• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.129.1-129
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• 2001

In this paper, we present an approach for matching images from finding interesting points and applying new image interpolation algorithm. New algorithms are developed that automatically align the input images match them and reconstruct 3-D surfaces. The interpolation algorithm is designed to cope with simple shapes. The proposed image interpolation algorithm generate a rotation image about vertical axes by an any angle from 4 base images. Each base image that was obtained from CCD camera has an angle difference of 90$^{\circ}$ The proposed image interpolation algorithm use the geometric analysis of image and depth information.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.1
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• pp.100-107
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• 2008

This paper proposes a real-time processing method to simplify the image input procedure while extracting and tracing a specified object among multiple ones. In order to extract an object in a specified area among multiple objects of indoor environment and tracing the extracted object continuously, it is verified through experiments that the information interchanged between cameras upwards and in front of it have effect on tracing a specified object continuously. The camera located upward transfers its x-axis data of the input image to the front camera so that the front camera can catch the area of object soon without computing the information of x-axis. The front camera can't resolve the problem of objects overlapping till they share information with the upward camera. The result of the experiment shows that the computation for tracing an object is simplified and the accuracy for extracting and tracing is upgraded.

• Journal of Biomedical Engineering Research
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• v.32 no.1
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• pp.15-24
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• 2011

While Compton imaging is recognized as a valuable 3-D technique in nuclear medicine, reconstructing an image from Compton scattered data has been of a difficult problem due to its computational complexity. The most complex and time-consuming computation in Compton camera reconstruction is to perform the conical projection and backprojection operations. To alleviate the computational burden imposed by these operations, we investigate a rebinning method which can convert conical projections into parallel projections. The use of parallel projections allows to directly apply the existing deterministic reconstruction methods, which have been useful for conventional emission tomography, to Compton camera reconstruction. To convert conical projections into parallel projections, a cone surface is sampled with a number of lines. Each line is projected onto an imaginary plane that is mostly perpendicular to the line. The projection data rebinned in each imaginary plane can then be treated as the standard parallel projection data. To validate the rebinning method, we tested with the representative deterministic algorithms, such as the filtered backprojection method and the algebraic reconstruction technique. Our experimental results indicate that the rebinning method can be useful when the direct application of existing deterministic methods is needed for Compton camera reconstruction.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.42-47
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• 2005

In this papcr, we address the 3D reconstruction of the indoor circumstance using what the data is extracted by a pall of image from Stereo Camera. Generally sucaking, there arc three methods to extract 3-Dimensional data using IR sensor, Laser sensor and Stereo camera sensor. The best is stereo camera sensor which can show a high performance at a reasonable price. We used 'Window Correlation Matching Method' to extract 3-Dimensional data in stereo image. We proposed new Method to reduce error data, said 'Histogram Weighted Hough Transform'. Owing to this mettled, we reduced error data in each stereo image. So reconstruction is well done. 3-Dimensional Reconstruction is accomplished by using the DirectX that is well known as 3D-Game development tool. We show that the stereo camera can be not only used to extract 3-dimensional data but also applied to reconstruct the 3-Dimensional circumstance. And we try to reduce the error data using various method.

• Applied Microscopy
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• v.35 no.4
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• pp.98-104
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• 2005

A FOV (field-of-view) of the HV-MSC (high voltage multi-scan CCD, $1024{\times}1024$ pixels) camera mounted in the post-column HV-GIF (high voltage gatan image filter) has been drastically enlarged by the projection lens current adjustment. An imaging area of the HV-MSC camera obtained at the lowest magnification (2,000x) is $112{\mu}m^2$ which corresponds to the recording area of the film at the magnification of 8,800x, while the achievable recording area is only $0.43{\mu}m^2$ at the same magnification without this technique. Ignoring the image distortion of less than 5%, we have designed an on-site reference graph to estimate projection lens currents for microscope magnifications above 8,800x, where the recording area on the HVMSC is same as that on the film.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1081-1087
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• 2015

Recently, the researches of aerial drones are actively executed in various areas, the researches of surface drones and underwater drones are also executed in marine areas. In case of surface drones, they essentially utilize acoustic information by the sonar and consequently have the local information in the obstacle avoidance as the sonar has the limitations due to the beam width and detection range. In order to overcome this, more global method that utilizes optical images by the camera is required. Related to this, the aerial drone with the camera is desirable as the obstacle detection of the surface drone with the camera is impossible in case of the existence of clutters. However, the dynamic-floating aerial drone is not desirable for the long-term operation as its power consumption is high. To solve this problem, a collaborative obstacle avoidance method based on the acoustic information by the sonar of the surface drone and the optical image by the camera of the static-floating aerial drone is proposed. To verify the performance of the proposed method, the collaborative obstacle avoidances of a MSD(Micro Surface Drone) with an OAS(Obstacle Avoidance Sonar) and a BMAD(Balloon-based Micro Aerial Drone) with a camera are executed. The test results show the possibility of real applications and the need for additional studies.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.11
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• pp.365-368
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• 1997

We are developing a small gamma camera or imaging malignant breast tumors. The small scintillation camera system consists of NaI(Tl) crystal ($60\;{\times}\;60\;{\times}\;6\;mm^3$) coupled to position sensitive photomultiplier tube (PSPMT), nuclear instrument module (NIM), analog to digital converter (ADC), and personal computer. High quality flood source image and hole mask image were obtained using the gamma camera developed in this study. Breast phantom containing $2{\sim}7\;mm$ diameter spheres was successfully imaged with parallel hole collimator. The obtained image displayed accurate activity distribution over the imaging field of view. Linearity and uniformity correction algorithms are being developed. It is believed that the developed small gamma camera could be useful or detection of malignant breast cancer.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.2C
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• pp.229-237
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• 2004

In this paper. we propose a new autocalibration algorithm. 3D-based image synthesis is roughly divided into two methods. One is using autocalibration method, and the other is using real 3D data like pattern information. The former is more progressive method. because there is no constraint or information about the scenes. Therefore autocalibration method has very difficult progress dealing with complicate non-lineal equations. Nowadays, constraints of camera intrinsic parameters are used in many researches. Therefore we solve the linear equations instead of complicate non-lineal equations. For example, to fix principal point of camera is a representative method.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.293-300
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• 2020

The purpose of our sensor system is to transparentize the large hydraulic manipulators of a six-ton dual arm excavator from the operator camera view. Almost 40% of the camera view is blocked by the manipulators. In other words, the operator loses 40% of visual information which might be useful for many manipulator control scenarios such as clearing debris on a disaster site. The proposed method is based on a 3D reconstruction technology. By overlaying the camera image from front top of the cabin with the point cloud data from RGB-D (red, green, blue and depth) cameras placed at the outer side of each manipulator, the manipulator-free camera image can be obtained. Two additional algorithms are proposed to further enhance the productivity of dual arm excavators. First, a color correction algorithm is proposed to cope with the different color distribution of the RGB and RGB-D sensors used on the system. Also, the edge overlay algorithm is proposed. Although the manipulators often limit the operator's view, the visual feedback of the manipulator's configurations or states may be useful to the operator. Thus, the overlay algorithm is proposed to show the edge of the manipulators on the camera image. The experimental results show that the proposed transparentization algorithm helps the operator get information about the environment and objects around the excavator.