• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• 한국측량학회지
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• 제36권5호
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• pp.413-422
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• 2018

Many applications using satellite data from high-resolution multispectral sensors require an image fusion step, known as pansharpening, before processing and analyzing the multispectral images when spatial fidelity is crucial. Image fusion methods are to improve images with higher spatial and spectral resolutions by reducing spectral distortion, which occurs on image fusion processing. The image fusion methods can be classified into MRA (Multi-Resolution Analysis) and CSA (Component Substitution Analysis) approaches. To suggest the efficient image fusion method for Pleiades and KOMPSAT (Korea Multi-Purpose Satellite) 3 satellites, this study will evaluate image fusion methods for multispectral and panchromatic images. HPF (High-Pass Filtering), SFIM (Smoothing Filter-based Intensity Modulation), GS (Gram Schmidt), and GSA (Adoptive GS) were selected for MRA and CSA based image fusion methods and applied on multispectral and panchromatic images. Their performances were evaluated using visual and quality index analysis. HPF and SFIM fusion results presented low performance of spatial details. GS and GSA fusion results had enhanced spatial information closer to panchromatic images, but GS produced more spectral distortions on urban structures. This study presented that GSA was effective to improve spatial resolution of multispectral images from Pleiades 1A and KOMPSAT 3.

• 디지털융복합연구
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• 제12권11호
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• pp.407-414
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• 2014

본 연구의 목적은 컴퓨터 방사선영상에서 X-선 초점 크기와 디지털영상후처리에 따른 공간분해능을 정량적으로 분석하고자 하였다. 초점의 크기는 소초점(0.6 mm)와 대초점(1.2 mm)을 이용하였다. 공간분해능의 정량적 분석은 엣지 측정법의 변조전달함수(MTF)를 이용하였다. 디지털영상후처리는 다단계 이미지 대비 증폭 알고리즘을 이용하여 경계면 증강과 대조도 증강에 따른 50%와 10%의 MTF를 평가하였다. 그 결과 모든 초점에서 MTF 50%의 공간분해능이 대조도 증강보다 경계면 증강에서 유의하게 높았다. 또한 대초점에서 획득된 영상은 디지털영상처리를 통해 공간분해능이 향상되었다. 결론적으로 이러한 결과는 컴퓨터 방사선영상에서 골격계 및 흉부영상과 같은 고 공간분해능 임상영상을 얻기 위한 기초자료로 활용할 수 있다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제16권7호
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• pp.768-774
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• 2010

흩어진 점 데이터의 집합으로부터 음함수 곡면을 생성하는 기법들이 다양한 과학과 공학 분야에서 개발되어 활용되고 있다. 본 논문에서는 다중스케일 커널을 이용하여 2차원 점 데이터를 함수 형태로 표현하고, 이것이 실시간 데이터 액세스가 필요한 그래픽스 응용에 효과적으로 활용될 수 있음을 보인다. 전처리 단계에서 계산되고 저장된 함수 계수들을 이용해, 실시간 응용 프로그램에서 임의의 위치에 대한 함수 값을 액세스하는 과정은 기존의 연구 방법들과 유사하지만, 실시간 처리 과정에서 사용자가 원하는 섬세한 레벨의 함수 값을 자유롭게 선택할 수 있다는 점에서 본 기법은 다른 기법들과 차별된다. 내재적으로 다중해상도 표현을 지원하는 함수를 계산할 수 있는 것은 멀티 스케일 커널이 갖는 수학적인 특성에 기인하며, 이 커널은 2차원뿐만 아니라 n차원 데이터의 다중해상도 표현을 위해 확장가능하다.

• IEIE Transactions on Smart Processing and Computing
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• 제6권3호
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• pp.175-182
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• 2017

In this paper, we present a multi-depth generation method using a time-of-flight (ToF) fusion camera system. Multi-view color cameras in the parallel type and ToF depth sensors are used for 3D scene capturing. Although each ToF depth sensor can measure the depth information of the scene in real-time, it has several problems to overcome. Therefore, after we capture low-resolution depth images by ToF depth sensors, we perform a post-processing to solve the problems. Then, the depth information of the depth sensor is warped to color image positions and used as initial disparity values. In addition, the warped depth data is used to generate a depth-discontinuity map for efficient stereo matching. By applying the stereo matching using belief propagation with the depth-discontinuity map and the initial disparity information, we have obtained more accurate and stable multi-view disparity maps in reduced time.

• IEIE Transactions on Smart Processing and Computing
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• 제3권5호
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• pp.271-274
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• 2014

Bayesian based Multi-Frame Super-Resolution (MF-SR) has been used as a popular and effective SR model. On the other hand, the texture region is not reconstructed sufficiently because it works on the spatial domain. In this study, the MF-SR method was extended to operate on the frequency domain to improve HF information as much as possible. For this, a spatially weighted bilateral total variation model was proposed as a regularization term for a Bayesian estimation. The experimental results showed that the proposed method can recover the texture region more realistically with reduced noise, compared to conventional methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.696-699
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• 2004

A side scan sonar system uses the towfish installed sonars, It is an equipment that search images of the bottom surface of the sea in real time. It is a typical equipment that is related to a sea investigation such as a geological survey, seabed communication cable and power line cable placing repair investigation, fish breeding ground investigation, sea purification, relic and mineral investigation, and mine and submarine search. It used to fined objects and investigate on the seabed surface. But, recently, it is used to sea purification and geological survey that require information of the correct surface of the seabed. So, it needs various filtering technique and image processing techniques development to acquire high resolution image. therefore, this research develops a side scan sonar using multi-beam sensors that supply various information with the fast scan speed and correct high resolution that is not a simple underwater investigation equipment.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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• pp.317-318
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• 2006

The towfish oi a side scan sonar is an equipment that search images of the bottom surface of the sea in real time. It is a typical equipment that is related to a sea investigation such as a geological survey, seabed communication cable and power line cable placing repair investigation, fish breeding ground investigation, sea purification, relic and mineral investigation, and mine and submarine search. It used to find objects and Investigate on the seabed surface. But, recently, it is used to sea purification and geological survey that require information of the correct surface of the seabed. So, it needs various filtering technique and image processing techniques development to acquire high resolution image. Therefore, this research develops a side scan sonar using multi-beam sensors that supply various information with the fast scan speed and correct high resolution that is not a simple underwater investigation equipment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권10호
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• pp.2479-2496
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• 2013

Increasing demand for Full High-Definition (FHD) video and Ultra High-Definition (UHD) video services has led to active research on high speed video processing. Widespread deployment of multi-core systems has accelerated studies on high resolution video processing based on parallelization of multimedia software. Even if parallelization of a specific decoding step may improve decoding performance partially, such partial parallelization may not result in sufficient performance improvement. Particularly, entropy decoding has often been considered separately from other decoding steps since the entropy decoding step could not be parallelized easily. In this paper, we propose a parallelization technique called Integrated Multi-Threaded Parallelization (IMTP) which takes parallelization of the entropy decoding step, with other decoding steps, into consideration in an integrated fashion. We used the Simultaneous Multi-Threading (SMT) technique with appropriate thread scheduling techniques to achieve the best performance for the entire decoding step. The speedup of the proposed IMTP method is up to 3.35 times faster with respect to the entire decoding time over a conventional decoding technique for H.264/AVC videos.

• 한국항공우주학회지
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• 제45권3호
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• pp.180-190
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• 2017

본 논문은 무인기를 통해 획득한 영상정보의 해상도를 향상시키기 위해 복수영상 기반 초해상도 기법을 적용하고, 이를 통한 무인기의 지상 목표물 인식 능력 향상에 대한 내용을 담고 있다. 이를 검증하기 위해 기체 제작 및 제어 시스템을 구축하였고, 무인기와 지상의 목표물을 이용해 설계한 알고리즘을 검증하였다. 실험 결과 초해상도 기법 적용 전, 후 영상을 비교하였을 때 RMSE는 0.0677에서 0.0315, NRMSE는 7.4030%에서 3.5726%로, PSNR은 23.3885dB에서 30.0036dB, SSIM은 0.6996에서 0.8948로 향상되었음을 확인하였다. 이를 통해 본 알고리즘을 적용하여 무인기 영상의 해상도를 향상시킬 수 있음을 검증하였다.