• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.6
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• pp.2551-2562
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• 2013

Since 2006, an Intelligent Excavation Robot which automatically performs the earth-work without operator has been developed in Korea. The technologies for automatically recognizing the terrain of work environment and detecting the objects such as obstacles or dump trucks are essential for its work quality and safety. In several countries, terrestrial 3D laser scanner and stereo vision camera have been used to model the local area around workspace of the automated construction equipment. However, these attempts have some problems that require high cost to make the sensor system or long processing time to eliminate the noise from 3D model outcome. The objectives of this study are to analyze the advantages of the existing 3D modeling sensors and to examine the applicability for practical use by using Analytic Hierarchical Process(AHP). In this study, 3D modeling quality and accuracy of modeling sensors were tested at the real earth-work environment.

• Journal of KIISE:Software and Applications
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• v.36 no.6
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• pp.471-478
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• 2009

Recently, researches for user interface are remarkably processed due to the explosive growth of 3-dimensional contents and applications, and the spread class of computer user. This paper proposes a novel method to manipulate windows efficiently using only the intuitive motion of hand. Previous methods have some drawbacks such as burden of expensive device, high complexity of gesture recognition, assistance of additional information using marker, and so on. To improve the defects, we propose a novel visual touchless interface. First, we detect hand region using hue channel in HSV color space to control window using hand. The distance transform method is applied to detect centroid of hand and curvature of hand contour is used to determine position of fingertips. Finally, by using the hand motion information, we recognize hand gesture as one of predefined seven motions. Recognized hand gesture is to be a command to control window. In the proposed method, user can manipulate windows with sense of depth in the real environment because the method adopts stereo camera. Intuitive manipulation is also available because the proposed method supports visual touch for the virtual object, which user want to manipulate, only using simple motions of hand. Finally, the efficiency of the proposed method is verified via an application based on our proposed interface.

• Journal of Korea Game Society
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• v.10 no.6
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• pp.157-168
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• 2010

A terrain is an essential element for constructing a virtual world in which game characters and objects make various interactions with one another. Creating a terrain requires a great deal of time and repetitive editing processes. This paper presents a 3D terrain reconstruction system to create 3D terrain in virtual space based on real terrain data. In this system, it converts the coordinate system of the height maps which are generated from a stereo camera and a laser scanner from global GPS into 3D world using the x and z axis vectors of the global GPS coordinate system. It calculates the movement vectors and the rotation matrices frame by frame. Terrain meshes are dynamically generated and rendered in the virtual areas which are represented in an undirected graph. The rendering meshes are exactly created and updated by correcting terrain data errors. In our experiments, the FPS of the system was regularly checked until the terrain was reconstructed by our system, and the visualization quality of the terrain was reviewed. As a result, our system shows that it has 3 times higher FPS than other terrain management systems with Quadtree for small area, improves 40% than others for large area. The visualization of terrain data maintains the same shape as the contour of real terrain. This system could be used for the terrain system of realtime 3D games to generate terrain on real time, and for the terrain design work of CG Movies.

• Journal of Broadcast Engineering
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• v.16 no.1
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• pp.33-43
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• 2011

Recently, 3D displays are supplied in the 3D markets so that the demand for 3D stereoscopic contents increases. In general, a simple method is to use a stereoscopic camera. As well, the production of 3D from 2D materials is regarded as an important technology. Such conversion works have gained much interest in the field of 3D converting. However, the stereoscopic image generation from a single 2D image is limited to simple 2D to 3D conversion so that the better realistic perception is difficult to deliver to the users. This paper presents a new stereoscopic content production method where foreground objects undergo alive action events. Further stereoscopic animation is viewed on 3D displays. Given a 2D image, the production is composed of background image generation, foreground object extraction, object/background depth maps and stereoscopic image generation The alive objects are made using the geometric transformation (e.g., translation, rotation, scaling, etc). The proposed method is performed on a Korean traditional painting, Danopungjung as well as Pixar's Up. The animated video showed that through the utilization of simple object transformations, more realistic perception can be delivered to the viewers.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.61-71
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• 2009

In this paper, we propose a low-cost and compact motion capture system which enables to play motion games in PS2(Play Station 2). Recently, motion capture systems which are being used as a part in film producing and making games are too expensive and enormous systems. Now days, motion games using common USB camera are slow and have two-dimension recognition. But PSD sensor has a few good points, such as fast and low-cost. In recently year, 3D motion capture systems using 2D PSD (Position Sensitive Detector) optic sensor for motion capturing have been developed. One is Multi-PSD motion capture system applying stereo vision and another is Single-PSD motion capture system applying optical theory ship. But there are some problems to apply them to motion games. The Multi-PSD is high-cost and complicated because of using two more PSD Camera. It is so difficult to make markers having omni-direction equal intensity in Single-PSD. In this research, we propose a new theory that solves aforementioned problems. It can measure 3D coordination if separated two marker's intensity is equal to. We made a system based on this theory and experimented for performance capability. As a result, we were able to develop a motion capture system which is a single, low-cost, fast, compact, wide-angle and an adaptable motion games. The developed system is expected to be useful in animation, movies and games.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.34 no.1
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• pp.17-25
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• 2012

Purpose: Recently, a three dimensional approach to hard and soft tissues of the maxillofacial area has been widely used. This study was to evaluate the reproducibility and accuracy of a stereocamera compared to actual measurement methods using a digital caliper and digitizer. Methods: The stereoscopies of 7 head dummies with different sizes and shapes were obtained using a Di3D system (Dimensional Imaging, Glasgow, UK) after marking reference points on facial areas. From the obtained stereoscopy, 10 measurements representing the width, height and depth of each of the facial sections of the dummy were measured twice using a three dimensional reverse engineering software program (RapidForm$^{TM}$ 2006, Inus, Seoul, Korea). The x, y, and z coordinates of each of the three dimensional measurements were obtained and distances between two points were calculated. All procedures were repeated twice. The actual measurement method was performed twice, directly on dummies, using a digital caliper and values were compared with the previously determined values. Results: The results were as follows. In the ANOVA analysis, there were no significant statistical differences among the three measurement methods. In the Bonferroni analysis, with adjustments applied for multiple comparisons, there was no difference between actual measurement methods using a digitizer and a digital caliper. However, there was some difference between using a stereocamera and actual measurement methods using a digitizer and a digital caliper in values of $Ex_{Rt}-Ex_{Lt}$, $En_{Rt}-En_{Lt}$, $Ala_{Rt}-Ala_{Lt}$, $Ch_{Rt}-Ch_{Lt}$, G-Pg', $Ala_{Rt}$-Prn, $Ala_{Rt}$-Prn. The mean value for technical error in measurement (TEM) in Di3D (0.98 mm) was slightly higher than for a digital caliper (0.17 mm) and a digitizer (0.30 mm). In an intraclass correlation coefficient (ICC) there were no significant differences among the three measurement methods, but the Di3D system with the stereocamera showed relatively lower reproducibility compared to actual measurement methods using a digitizer and a digital caliper. Conclusion: These results indicate that some complementary measures may be needed to improve accuracy and reproducibility in the Di3D system with stereocamera.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.135-140
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• 2012

The mirror neuron system in the cerebrum, which are handled by visual information-based imitative learning. When we observe the observer's range of mirror neuron system, we can assume intention of performance through progress of neural activation as specific range, in include of partially hidden range. It is goal of our paper that imitative learning is applied to 3D vision-based intelligent system. We have experiment as stereo camera-based restoration about acquired 3D image our previous research Using Optical flow, unscented Kalman filter. At this point, 3D input image is sequential continuous image as including of partially hidden range. We used Hidden Markov Model to perform the intention recognition about performance as result of restoration-based hidden range. The dynamic inference function about sequential input data have compatible properties such as hand gesture recognition include of hidden range. In this paper, for proposed intention recognition, we already had a simulation about object outline and feature extraction in the previous research, we generated temporal continuous feature vector about feature extraction and when we apply to Hidden Markov Model, make a result of simulation about hand gesture classification according to intention pattern. We got the result of hand gesture classification as value of posterior probability, and proved the accuracy outstandingness through the result.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.1
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• pp.15-31
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• 2013

This paper proposes an intermediate image generation method for the viewer's view point by tracking the viewer's face, which is converted to a digital hologram. Its purpose is to increase the viewing angle of a digital hologram, which is gathering higher and higher interest these days. The method assumes that the image information for the leftmost and the rightmost view points within the viewing angle to be controlled are given. It uses a stereo-matching method between the leftmost and the rightmost depth images to obtain the pseudo-disparity increment per depth value. With this increment, the positional informations from both the leftmost view point and the rightmost view point are generated, which are blended to get the information at the wanted intermediate viewpoint. The occurrable dis-occlusion region in this case is defined and a inpainting method is proposed. The results from implementing and experimenting this method showed that the average image qualities of the generated depth and RGB image were 33.83[dB] and 29.5[dB], respectively, and the average execution time was 250[ms] per frame. Also, we propose a prototype system to service digital hologram interactively to the viewer by using the proposed intermediate view generation method. It includes the operations of data acquisition for the leftmost and the rightmost viewpoints, camera calibration and image rectification, intermediate view image generation, computer-generated hologram (CGH) generation, and reconstruction of the hologram image. This system is implemented in the LabView(R) environments, in which CGH generation and hologram image reconstruction are implemented with GPGPUs, while others are implemented in software. The implemented system showed the execution speed to process about 5 frames per second.

• Korean Journal of Remote Sensing
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• v.18 no.4
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• pp.221-231
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• 2002

In this study we applied a DEM generation algorithm developed in-house to satellite images at various resolution and discussed the results. We tested SPOT images at l0m resolution, EOC images at 6.6m and IKONOS images at 1m resolution. These images include the same urban area in Daejeon city. For camera model, we used Gupta & Hartley's(1997) DLT model for all three image sets. We carried out accuracy assessment using USGS DTED for SPOT and EOC and 23 check points for IKONOS. The assessment showed that SPOT DEM had about 38m RMS error, EOC DEM 12m RMS error and IKONOS DEM 6.5m RMS error. In terms of image resolution, SPOT and EOC DEM error corresponds to 2∼4 pixels where as IKONOS DEM error 6∼7pixels. IKONOS DEM contains more errors in pixels. However, in IKONOS DEM, individual buildings, apartments and major roads are identifiable. All three DEMs contained errors due to height discontinuity, occlusion and shadow. These experiments show that our algorithm can generate urban DEM from 1m resolution and that, however, we need to improve the algorithm to minimize effects of occlusion and building shadows on DEMs.

• Korean Journal of Remote Sensing
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• v.14 no.3
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• pp.250-261
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• 1998

The purpose of this paper is to extract fast DEM (Digital Elevation Model) using satellite images. DEM extraction consists of three parts. First part is the modeling of satellite position and attitude, second part is the matching of two images to find corresponding points of them and third part is to calculate the elevation of each point by using the results of the first and second part. The position and attitude modeling of satellite is processed by using GCPs. A area based matching method is used to find corresponding points between the stereo satellite images. The elevation of each point is calculated using the exterior orientation parameters obtained from modeling and conjugate points from matching. In the DEM generation system, matching procedure holds most of a processing time, therefore to reduce the time for matching, a new fast matching algorithm using gradient correlation and fast similarity measure calculation method is proposed. In this paper, the SPOT satellite images, level 1A 6000$\times$6000 panchromatic images are used to extract DEM. The experiment result shows the possibility of fast DEM extraction with the satellite images.