• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.11
• /
• pp.1003-1007
• /
• 2015

Depth calibration is a procedure for finding the conversion function that maps disparity data from a depth-sensing camera to actual distance information. In this paper, we present an optimal depth calibration method for Kinect$^{TM}$ sensors based on an experimental design and convex optimization. The proposed method, which utilizes multiple measurements from only two points, suggests a simplified calibration procedure. The confidence ellipsoids obtained from a series of simulations confirm that a simpler procedure produces a more reliable calibration function.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2020.01a
• /
• pp.55-56
• /
• 2020

본 논문에서는 키넥트 센서 기반의 노인 건강 관리 애플리케이션을 설계하고 구현한다. 이 애플리케이션은 체조하기 모드와 두뇌 게임 모드로 구성한다. 체조하기 모드는 모션 인식 기능을 활용하여 스트레칭을 비롯한 다양한 체조 동작을 반복적으로 따라 함으로써 사용자의 건강을 관리할 수 있는 기능을 제공한다. 두뇌게임 모드는 사용자의 기억력을 증진함으로써 치매를 예방할 수 있는 기능을 제공한다. 또한, Unity의 핸드트래킹 기술을 이용하여 두뇌 게임을 하는 동시에 자연스레 팔과 어깨의 운동을 할 수 있도록 게임 화면을 구성한다.

• Journal of Intelligence and Information Systems
• /
• v.20 no.1
• /
• pp.1-14
• /
• 2014

Both researchers and practitioners are showing an increased interested in interactive exhibition services. Interactive exhibition services are designed to directly respond to visitor responses in real time, so as to fully engage visitors' interest and enhance their satisfaction. In order to install an effective interactive exhibition service, it is essential to adopt intelligent technologies that enable accurate estimation of a visitor's emotional state from responses to exhibited stimulus. Studies undertaken so far have attempted to estimate the human emotional state, most of them doing so by gauging either facial expressions or audio responses. However, the most recent research suggests that, a multimodal approach that uses people's multiple responses simultaneously may lead to better estimation. Given this context, we propose a new multimodal emotional state estimation model that uses various responses including facial expressions, gestures, and movements measured by the Microsoft Kinect Sensor. In order to effectively handle a large amount of sensory data, we propose to use stratified sampling-based MRA (multiple regression analysis) as our estimation method. To validate the usefulness of the proposed model, we collected 602,599 responses and emotional state data with 274 variables from 15 people. When we applied our model to the data set, we found that our model estimated the levels of valence and arousal in the 10~15% error range. Since our proposed model is simple and stable, we expect that it will be applied not only in intelligent exhibition services, but also in other areas such as e-learning and personalized advertising.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.14 no.5
• /
• pp.243-248
• /
• 2014

This study presents an investigation into the ways to detect the areas of object movement with Kinect's Depth Frame, which is capable of receiving 3D information regardless of external light sources. Applied to remove noises along the boundaries of objects among the depth information received from sensors were the blurring technique for the x and y coordinates of pixels and the frequency filter for the z coordinate. In addition, a clustering filter was applied according to the changing amounts of adjacent pixels to extract the areas of moving objects. It was also designed to detect fast movements above the standard according to filter settings, being applicable to mobile robots. Detected movements can be applied to security systems when being delivered to distant places via a network and can also be expanded to large-scale data through concerned information.

• Journal of the Korea Society of Computer and Information
• /
• v.26 no.4
• /
• pp.39-46
• /
• 2021

In this paper, we propose a method for the motion recognition method required in the industrial field in mixed reality. In industrial sites, movements (grasping, lifting, and carrying) are required throughout the upper full-body, from trunk movements to arm movements. In this paper, we use a method composed of sensors and wearable devices that are not vision-based such as Kinect without using heavy motion capture equipment. We used two IMU sensors for the trunk and shoulder movement, and used Myo arm band for the arm movements. Real-time data coming from a total of 4 are fused to enable motion recognition for the entire upper body area. As an experimental method, a sensor was attached to the actual clothes, and objects were manipulated through synchronization. As a result, the method using the synchronization method has no errors in large and small operations. Finally, through the performance evaluation, the average result was 50 frames for single-handed operation on the HoloLens and 60 frames for both-handed operation.

• Korean Journal of Agricultural and Forest Meteorology
• /
• v.20 no.2
• /
• pp.205-213
• /
• 2018

Development and validation of crop models often require measurements of biomass for the crop of interest. Considerable efforts would be needed to obtain a reasonable amount of biomass data because the destructive sampling of a given crop is usually used. The Kinect sensor, which has a combination of image and depth sensors, can be used for estimating crop biomass without using destructive sampling approach. This approach could provide more data sets for model development and validation. The objective of this study was to examine the applicability of the Kinect sensor for estimation of chinese cabbage fresh weight. The fresh weight of five chinese cabbage was measured and compared with estimates using the Kinect sensor. The estimates were obtained by scanning individual chinese cabbage to create point cloud, removing noise, and building a three dimensional model with a set of free software. It was found that the 3D model created using the Kinect sensor explained about 98.7% of variation in fresh weight of chinese cabbage. Furthermore, the correlation coefficient between estimates and measurements were highly significant, which suggested that the Kinect sensor would be applicable to estimation of fresh weight for chinese cabbage. Our results demonstrated that a depth sensor allows for a non-destructive sampling approach, which enables to collect observation data for crop fresh weight over time. This would help development and validation of a crop model using a large number of reliable data sets, which merits further studies on application of various depth sensors to crop dry weight measurements.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.9
• /
• pp.745-752
• /
• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• The Journal of the Korea Contents Association
• /
• v.17 no.1
• /
• pp.137-144
• /
• 2017

Face detection is still a challenging task under severe face pose variations in complex background. This paper proposes an effective algorithm which can detect single or multiple faces based on skin color detection and depth information. We introduce Gaussian mixture model(GMM) for skin color detection in a color image. The depth information is from three dimensional depth sensor of Kinect V2 device, and is useful in segmenting a human body from the background. Then, a labeling process successfully removes non-face region using several features. Experimental results show that the proposed face detection algorithm can provide robust detection performance even under variable conditions and complex background.

• Journal of Advanced Navigation Technology
• /
• v.17 no.2
• /
• pp.247-254
• /
• 2013

The task of 3D gesture recognition for controlling equipments is highly challenging due to the propagation of 3D smart TV recently. In this paper, the AdaBoost algorithm is applied to 3D gesture recognition by using Kinect sensor. By tracking time interval trajectory of hand, wrist and arm by Kinect, AdaBoost algorithm is used to train and classify 3D gesture. Experimental results demonstrate that the proposed method can successfully extract trained gestures from continuous hand, wrist and arm motion in real time.

• The Journal of the Korea Contents Association
• /
• v.16 no.3
• /
• pp.43-51
• /
• 2016

This paper presents the concept of "interactive teleprompter", which provides the user with interaction with oneself or other users for live television broadcasts or smart mirrors. In such interactive applications, eye contacts between the user and the regenerated image or between the user and other persons are important in handling psychological processes or non-verbal communications. Unfortunately, it is not straightforward to address the eye contact issues with conventional combination of normal display and video camera. To address this problem, we propose an "interactive" teleprompter enhanced from conventional teleprompter devices. Our interactive teleprompter can recognize the user's gestures by applying infra-red (IR) depth sensor. This paper also presents test results for a beam splitter which plays a critical role for teleprompter and is designed to handle both visual light for RGB camera and IR for Depth sensor effectively.