• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.1
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• pp.182-188
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• 2019

Autonomous mobile robots need SLAM (simultaneous localization and mapping) to look for the location and simultaneously to make the map around the location. In order to achieve visual SLAM, it is necessary to form an algorithm that detects and extracts feature points from camera images, and gets the camera pose and 3D points of the features. In this paper, we propose MPROSAC algorithm which combines MSAC and PROSAC, and compare the performance of optimization method and the filtering method for feature-based monocular visual SLAM. Sparse Bundle Adjustment (SBA) is used for the optimization method and the extended Kalman filter is used for the filtering method.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.114-121
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• 2019

This paper presents a new benchmark system for visual odometry (VO) and monocular depth estimation (MDE). As deep learning has become a key technology in computer vision, many researchers are trying to apply deep learning to VO and MDE. Just a couple of years ago, they were independently studied in a supervised way, but now they are coupled and trained together in an unsupervised way. However, before designing fancy models and losses, we have to customize datasets to use them for training and testing. After training, the model has to be compared with the existing models, which is also a huge burden. The benchmark provides input dataset ready-to-use for VO and MDE research in 'tfrecords' format and output dataset that includes model checkpoints and inference results of the existing models. It also provides various tools for data formatting, training, and evaluation. In the experiments, the exsiting models were evaluated to verify their performances presented in the corresponding papers and we found that the evaluation result is inferior to the presented performances.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.05a
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• pp.637-640
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• 2022

3차원 물체의 탐지와 자세 추정은 실내외 환경에서 장면 이해, 로봇의 물체 조작 작업, 자율 주행, 증강 현실 등과 같은 다양한 응용 분야들에서 공통적으로 요구되는 매우 중요한 시각 인식 기술이다. 깊이 지도를 요구하는 기존 연구들과는 달리, 본 논문에서는 RGB 컬러 영상만을 이용해 미지의 물체들, 즉 3차원 CAD 모델을 가지고 있지 않은 새로운 물체들을 탐지해내고, 이들의 자세를 추정해낼 수 있는 새로운 신경망 모델을 제안한다. 제안 모델에서는 최근 빠른 속도로 발전하고 있는 깊이 추정 기술을 이용함으로써, 깊이 측정 센서 없이도 물체 자세 추정에 필요한 깊이 지도를 컬러 영상에서 구해낼 수 있다. 본 논문에서는 벤치마크 데이터 집합을 이용한 실험을 통해, 제안 모델의 유용성을 평가한다.

• Journal of Korean Ophthalmic Optics Society
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• v.20 no.3
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• pp.385-390
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• 2015

Purpose: This study evaluated the static stereoacuity by Distance Randot Stereotest (STEREO OPTICAL. Co., Inc. USA) and the dynamic stereoacuity by three-rods test (iNT, Korea). Criterion and correlation of stereoacuity between both tests and usefulness of two stereotest methods were also evaluated. Methods: For normal adults of 109 (male 61, female 48), mean age of 20.88 (19-32 years) years old, static stereoacuity by using Distance Randot Stereotest at 3 m distance, dynamic stereoacuity by using three-rods test at 2.5 m distance were measured. Results: The mean of distance static stereoacuity was $155.77{\pm}133.11sec$ of arc and the mean of error distance dynamic stereoacuity $11.13{\pm}9.69mm$. With equivalent-conversion stereoacuity of $23.44{\pm}20.96sec$ of arc, there was statistically significant differences (p=0.00) between two dynamic stereoacuity, but correlation was relatively low (${\rho}=0.226$). In the case of dynamic stereoacuity, separated to normal range by criterion of the error distance 20 mm, it showed the error distance of less than 20 mm in 97 subjects(89%) whose average of error distance and conversion mean dynamic stereoacuity were $8.43{\pm}5.10mm$ and $17.68{\pm}10.67sec$ of arc. repectively. The error distance of was equivalent-conversion dynamic stereoacuity 40.99 sec of arc (PD 62 mm basis) was 20 mm. Conclusions: The results of lower correlation between static and dynamic stereoacuity suggest that seterotest should be applied separately to different functions. The results of this study also suggest that Distance Randot Stereotest can be applied to static stereoacuity excluding monocular cues. Three-rods test can be applied to dynamic stereoacuity containing the response of the eye-hand coordination in the daily life of natural vision condition, including the monocular cues. These different approaches canprovide a criterion of the two stereoacuity and parallel use of the two tests would be useful. For dynamic stereoacuity by three-rods test, error distance 20 mm in a normal range of adults can be used as a criteria to get statistical meaning of the results.

• Journal of Korean Ophthalmic Optics Society
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• v.15 no.2
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• pp.169-174
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• 2010

Purpose: The purpose of this study is to evaluate the long-term stability of the improved symptoms and accommodative functions after completion of accommodative therapy. Methods: Seven children (mean age${\pm}$SD: $12{\pm}1.41$ years) who were successfully treated with a vision therapy program for either accommodative insufficiency or infacility were followed for 1 year. The visual symptoms of the subjects were measured by the College of Optometrists in Vision Development Quality of Life (COVD-QOL) checklist, and this was followed by measurement of the monocular and binocular accommodative facility with ${\pm}2.00$ D flipper lens. Results: The mean visual symptoms at the 1 year follow-up examination ($15.14{\pm}8.59$) showed a small increase, but there was no significant difference (p=0.446) from post-therapy ($11.86{\pm}7.22$). There was small regression in the monocular (left eye, $13.86{\pm}3.93cpm$) and binocular ($11.14{\pm}3.13cpm$) accommodative facility at the 1 year follow-up examination, but there were no significant different from the monocular ($15.86{\pm}4.14cpm$, p=0.147) and binocular ($13.21{\pm}3.76cpm$, p=0.066) accommodative facility measurements at post-therapy. Also, every subject met the normative values of ${\geq}7$ cpm for monocular accommodative facility and ${\geq}5$ cpm for binocular accommodative facility in the long-term. Conclusions: There was long-term maintenance of the improved visual symptoms and accommodative functions, and so it is clear that the positive therapeutic effects persist with accommodative therapy.

• Journal of Korean Ophthalmic Optics Society
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• v.9 no.1
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• pp.19-27
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• 2004

The purpose of this study is to survey spectacle wearers's way of thinking through the questionaire and to investigate their wearing conditions through fitting conditions, the pantascopic angle, vertex distance, the coincidence of vertical and horizontal distance between optical center of the lens and pupillary distance of the eye in random selected 150 ametropic corrective wearers in the age of 17 to 19. The results are as follows : 1. The most popular causes of physical complaints in the ex-wearing spectacle are frame pressure(34.0%), slipping forward(30.0%) and most popular visual complaints are blur vision(30.0%) and asthenopia(20.0%). 2. The most common physical or visual complaints in the present wearing spectacle are slipping forward(30.0%), pressure (50.0%), color(10.0%). 3. Myopic glasses wearers accounted for 56.7% of the subjects, the others were compound myopic astigmatism. In 60% of the subjects' binocular diopter did not coincide. 4. In the pantascopic angle of the both eyes coincide in 66.7% of the subjects. The average of pantascopic angle is $10.07^{\circ}$. 5. In the vertex distance of the both eyes coincided in 65.3% of the subjects. the he average of vertex distance is 13.6 mm. 6. Among 150 eyes with monocular, the vertical distance between optical center of the lens and pupillary distance of the eye is within the RAL-RG 915 that is tolerance of ophthalmic dispensing in German Standards in 82 eyes (54.6%). 7. Among 150 eyes with monocular, the horizontal distance between optical center of the lens and pupillary distance of the eye is within the RAL-RG915 that is tolerance of ophthalmic dispensing in German Standards in 86 eyes(57.3 %).

• Journal of Broadcast Engineering
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• v.15 no.2
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• pp.163-172
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• 2010

The free viewpoint video delivers an active contents where users can see the images rendered from the viewpoints chosen by them. Its applications are found in broad areas, especially museum tour, entertainment and so forth. As a new free-viewpoint application, this paper presents a stereoscopic free-viewpoint TIP (Tour Into Picture) where users can navigate the inside of a single image controlling a virtual camera and utilizing depth data. Unlike conventional TIP methods providing 2D image or video, our proposed method can provide users with 3D stereoscopic and free-viewpoint contents. Navigating a picture with stereoscopic viewing can deliver more realistic and immersive perception. The method uses semi-automatic processing to make foreground mask, background image, and depth map. The second step is to navigate the single picture and to obtain rendered images by perspective projection. For the free-viewpoint viewing, a virtual camera whose operations include translation, rotation, look-around, and zooming is operated. In experiments, the proposed method was tested eth 'Danopungjun' that is one of famous paintings made in Chosun Dynasty. The free-viewpoint software is developed based on MFC Visual C++ and OpenGL libraries.

• Smart Media Journal
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• v.12 no.11
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• pp.48-56
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• 2023

The technology of Three-dimensional human posture estimation is used in sports, motion recognition, and special effects of video media. Among various methods for this, multi-view 3D human pose estimation is essential for precise estimation even in complex real-world environments. But Existing models for multi-view 3D human posture estimation have the disadvantage of high order of time complexity as they use 3D feature maps. This paper proposes a method to extend an existing monocular viewpoint multi-frame model based on Transformer with lower time complexity to 3D human posture estimation for multi-viewpoints. To expand to multi-viewpoints our proposed method first generates an 8-dimensional joint coordinate that connects 2-dimensional joint coordinates for 17 joints at 4-vieiwpoints acquired using the 2-dimensional human posture detector, CPN(Cascaded Pyramid Network). This paper then converts them into 17×32 data with patch embedding, and enters the data into a transformer model, finally. Consequently, the MLP(Multi-Layer Perceptron) block that outputs the 3D-human posture simultaneously updates the 3D human posture estimation for 4-viewpoints at every iteration. Compared to Zheng[5]'s method the number of model parameters of the proposed method was 48.9%, MPJPE(Mean Per Joint Position Error) was reduced by 20.6 mm (43.8%) and the average learning time per epoch was more than 20 times faster.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2010.11a
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• pp.311-314
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• 2010

최근 3D 영상에 대한 대중화가 급속히 진행되고 있음에도 불구하고 한 번 만들어진 영상/비디오를 재사용하거나 조작하여 다양한 형태의 콘텐츠를 만들지 못하고 있다. 본 논문에서는 깊이영상과 양안(스테레오) 영상 또는 깊이영상과 단안 영상이 주어졌다고 가정하고 깊이영상을 조작하여 양안 시차(parallax)를 변화시키는 방법을 제안한다. 시차변화의 대상은 부분영상이며, 특정 개체를 추출하여 깊이정보를 수정하고, 이를 바탕으로 스테레오 영상을 재구성한다. 본 논문에서는 정지영상만을 대상으로 하며, 동일한 방법을 동영상에 적용하면 동영상 또한 시차를 변화시킨 결과를 얻을 수 있다. 실험은 Middlebury의 테스트 영상들을 대상으로 제안한 방법을 적용하여 자연스러운 스테레오 영상을 얻을 수 있음을 보인다.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.1087-1092
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• 2006

몰입도가 높은 가시화 기법 중 하나인 입체 영상은 차세대 미디어의 표준으로 최근 크게 주목 받고 있다. 그러나 일반 2차원 영상과는 달리 입체 영상은 3차원의 기하정보가 존재해야만 영상을 생성하는 것이 가능하다. 따라서 3차원의 기하정보가 존재하지 않는 2차원 영상을 이용한 입체 영상의 저작은 매우 어려운 문제이다. 본 논문은 영상 기반 모델링 기법을 활용하여 단안 영상으로부터 입체 영상을 생성하기 위한 입체 영상 저작 도구를 제안한다. 이를 위해 입력된 영상에서 사영 기하 정보를 사용하여 깊이 정보를 추론함으로써 3차원 환경을 구성하는 전역 깊이 정보 추출 방법과 영상 내에 존재하는 사물의 정확한 깊이 정보로 수정하기 위한 부분 깊이 정보 수정 방법을 제안한다. 또한, 추출한 깊이 정보로부터 몰입감이 높은 입체 영상의 시점을 결정하기 위한 대화식 입체 영상 미리 보기 기능을 제안한다. 본 논문에서 제안한 기법은 2차원 영상 저작 도구인 포토샵의 플러그인으로 구현함으로써 범용성을 높였다.