• Journal of Information Processing Systems
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• v.18 no.3
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• pp.319-331
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• 2022

The capability to examine an X-ray image is so far a challenging task. In this work, we suggest a practical and novel algorithm based on image fusion to inspect the issues such as background noise, blurriness, or sharpness, which curbs the quality of dual-energy X-ray images. The current technology exercised for the examination of bags and baggage is "X-ray"; however, the results of the incumbent technology used show blurred and low contrast level images. This paper aims to improve the quality of X-ray images for a clearer vision of illegitimate or volatile substances. A dataset of 40 images was taken for the experiment, but for clarity, the results of only 13 images have been shown. The results were evaluated using MSE and PSNR metrics, where the average PSNR value of the proposed system compared to single X-ray images was increased by 19.3%, and the MSE value decreased by 17.3%. The results show that the proposed framework will help discern threats and the entire scanning process.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.3
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• pp.217-223
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• 2014

With precise sensor position, attitude element, and imaging resolution, a simulated geospatial image can be generated. In this study, a satellite image is simulated using SPOT ortho-image and global elevation data, and the geometric similarity between original and simulated images is analyzed. Using a SPOT panchromatic image and high-density elevation data from a 1/5K digital topographic map data an ortho-image with 10-meter resolution was produced. The simulated image was then generated by exterior orientation parameters and global elevation data (SRTM1, GDEM2). Experimental results showed that (1) the agreement of the image simulation between pixel location from the SRTM1/GDEM2 and high-resolution elevation data is above 99% within one pixel; (2) SRTM1 is closer than GDEM2 to high-resolution elevation data; (3) the location of error occurrence is caused by the elevation difference of topographical objects between high-density elevation data generated from the Digital Terrain Model (DTM) and Digital Surface Model (DSM)-based global elevation data. Error occurrences were typically found at river boundaries, in urban areas, and in forests. In conclusion, this study showed that global elevation data are of practical use in generating simulated images with 10-meter resolution.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.368-372
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• 2009

Pin-hole model has been widely used as a robust tool for easily understanding how to obtain a stereo image and how to present the depth-cue to an observer in stereoscopy. However, most of the processes to analyze depth cue in stereoscopy are performed that a stereo image is taken by camera model practically but depth cue of the image is analyzed by pin-hole model. Therefore, the result of depth cues by the process to be uncorrected. The reason of the uncorrected depth cue is led to the image distances of camera model due to variable focused object distances, and it makes a depth distortion. In this paper, we tried to show the contradiction such as occurring depth distortion in the process which the pin-hole model is used to analyze depth cue despite practical camera model is used in stereoscopy, and we presents the method to overcome the contradiction.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.10
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• pp.5112-5129
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• 2019

Image enhancement is a challenging problem in the field of image processing, especially low-light color images enhancement. This paper proposed a robust and comprehensive enhancement method based several points. First, the idea of bright channel is introduced to estimate the illumination map which is used to attain the enhancing result with Retinex model, and the color constancy is keep as well. Second, in order eliminate the illumination offsets wrongly estimated, morphological closing operation is used to modify the initial estimating illumination. Furthermore, in order to avoid fabricating edges, enlarged noises and over-smoothed visual features appearing in enhancing result, a multi-scale closing operation is used. At last, in order to avoiding the haloes and artifacts presented in enhancing result caused by gradient information lost in previous step, guided filtering is introduced to deal with previous result with guided image is initial bright channel. The proposed method can get good illumination map, and attain very effective enhancing results, including dark area is enhanced with more visual features, color natural and constancy, avoiding artifacts and over-enhanced, and eliminating Incorrect light offsets.

• Applied Microscopy
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• v.44 no.3
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• pp.83-87
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• 2014

Electron tomography (ET) is a useful tool to investigate three-dimensional details based on virtual slices of relative thick specimen, and it requires complicated procedures consisted of image acquisition steps and image processing steps with computer program. Although the complicated step, this technique allows us to overcome some limitations of conventional transmission electron microscopy: (1) overlapping of information in the ultrathin section covering from 30 nm to 90 nm when we observe very small structures, (2) fragmentation of the information when we study larger structures over 100 nm. There are remarkable biological findings with ET, especially in the field of neuroscience, although it is not popular yet. Understanding of behavior of synaptic vesicle, active zone, pooling and fusion in the presynaptic terminal have been enhanced thanks to ET. Some sophisticated models of postsynaptic density with ET and immune labeling are introduced recently. In this review, we introduce principles, practical steps of ET and some recent researches in synapse biology.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.180-187
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• 2006

This paper presents a new sensor system, CALOS, for motion estimation and 3D reconstruction. The 2D laser sensor provides accurate depth information of a plane, not the whole 3D structure. On the contrary, the CCD cameras provide the projected image of whole 3D scene, not the depth of the scene. To overcome the limitations, we combine these two types of sensors, the laser sensor and the CCD cameras. We develop a motion estimation scheme appropriate for this sensor system. In the proposed scheme, the motion between two frames is estimated by using three points among the scan data and their corresponding image points, and refined by non-linear optimization. We validate the accuracy of the proposed method by 3D reconstruction using real images. The results show that the proposed system can be a practical solution for motion estimation as well as for 3D reconstruction.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3047-3049
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• 2000

The ability to efficiently and robustly recover accurate 3D terrain models from sets of stereoscopic images is important to many civilian and military applications. To develop an effective and practical terrain modeling system. We propose the methods which detect unreliable elevations in digital elevation maps (DEMs). and fuse several DEMs from multiple sources into an accurate and reliable result. This paper focuses on two key factors for generating robust 3D terrain models. the ability to detect unreliable elevation estimates. and to fuse the reliable elevations into a single optimal terrain model. We apply the correlation score methodology to reconstruct accurate DEM for multi-image and show the method is more effective than the conventional averaging method. The photo-realistic simulator is used for generating four simulated images from ground truth DEM and orthoimage.

• Korean Journal of Remote Sensing
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• v.31 no.3
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• pp.245-253
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• 2015

According to wide civilian utilization of multi sensor satellite information, practical needs for fusion processing and interoperable operation with multiple remote sensing imageries within distributed remote server are being increased. For this task, OGC standards with respect to satellite images and its derived products are crucial factors. This study is to present an applicability of WPS through testing implementation of image processing algorithm. Open sources such as Geoserver and OTB were used linked to WPS application for implementation. WPS can be solely used for web service supporting geoprocessing algorithm, but technical consideration compromising with other important standard protocols including WMS, WFS, WCS, or WMTS is necessary to build full featured geo web for remote sensing imageries. It is expected that application of these international standards for geo-spatial information is an important approach to produce value-added results by interoperable processing between interorganizations or information dissemination containing practical satellite image processing functionalities.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.4
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• pp.217-222
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• 2017

Recent studies for working robot in dangerous places have been carried out on large unmanned ground vehicles or 4-legged robots with the advantage of long working time, but it is difficult to apply in practical dangerous fields which require the real-time system with high locomotion and capability of delicate working. This research shows the collaborated docking system of drone and ground vehicles which combines image processing algorithm and laser sensors for effective detection of docking markers, and is finally capable of moving a long distance and doing very delicate works. We proposed the docking system of drone and ground vehicles with sensor fusion which also suggests two template matching methods appropriate for this application. The system showed 95% docking success rate in 50 docking attempts.