Journal of the HCI Society of Korea (한국HCI학회논문지)

The HCI Society of Korea (한국HCI학회)
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Offline In-Hand 3D Modeling System Using Automatic Hand Removal and Improved Registration Method

자동 손 제거와 개선된 정합방법을 이용한 오프라인 인 핸드 3D 모델링 시스템

  • 강준석 (과학기술연합대학원대학교 KIST 스쿨 나노-정보 융합 (HCI 및 로봇공학)) ;
  • 양현석 (과학기술연합대학원대학교 KIST 스쿨 나노-정보 융합 (HCI 및 로봇공학)) ;
  • 임화섭 (과학기술연합대학원대학교 나노-정보 융합, KIST 영상미디어연구단) ;
  • 안상철 (과학기술연합대학원대학교 나노-정보 융합, KIST 영상미디어연구단)
  • Received : 2017.05.23
  • Accepted : 2017.07.24
  • Published : 2017.08.31
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Abstract

In this paper, we propose a new in-hand 3D modeling system that improves user convenience. Since traditional modeling systems are inconvenient to use, an in-hand modeling system has been studied, where an object is handled by hand. However, there is also a problem that it requires additional equipment or specific constraints to remove hands for good modeling. In this paper, we propose a contact state change detection algorithm for automatic hand removal and improved ICP algorithm that enables outlier handling and additionally uses color for accurate registration. The proposed algorithm enables accurate modeling without additional equipment or any constraints. Through experiments using real data, we show that it is possible to accomplish accurate modeling under the general conditions without any constraint by using the proposed system.

본 논문에서는 사용자의 편의성을 향상시킨 새로운 인 핸드 3D 모델링 시스템을 제안한다. 기존의 시스템은 사용자의 편의성이 낮은 문제점이 존재하여 물체를 손으로 들고 모델링을 진행하는 인 핸드 모델링 시스템이 연구되어 왔으나 손 제거를 위한 추가적인 장비가 필요하거나 특정 조건에서만 모델링이 가능한 문제가 발생하였다. 이에 본 논문에서는 자동 손 제거를 위한 접촉 상태 변화 감지 알고리즘과 정확한 정합을 위한 이상점 제어가 가능하고 색상정보를 추가적으로 이용하는 개선된 ICP 알고리즘을 제안한다. 제안된 알고리즘을 사용하면 추가적 장비나 어떠한 제한조건 없이 정확한 모델링이 가능하다. 본 논문에서는 실제 데이터를 이용한 실험을 통해 제안된 시스템을 활용하면 어떠한 제한 조건도 없는 일반적인 상황에서 정확한 모델링을 수행할 수 있음을 보였다.

Keywords

References

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