• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.2
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• pp.217-226
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• 2006

Extraction and tracking objects are fundamental and important steps of the digital image processing and computer vision. Many algorithms about extracting and tracking objects have been developed. In this research, a method is suggested for tracking a moving object using a pair of CCD cameras and calculating the coordinate of the moving object. A 1/100 miniature of soccer field was made to apply the developed algorithms. After candidates were selected from the acquired images using the RGB value of a moving object (soccer ball), the object was extracted using its size (MBR size) among the candidates. And then, image coordinates of a moving object are obtained. The real-time position of a moving object is tracked in the boundary of the expected motion, which is determined by centering the moving object. The 3D position of a moving object can be obtained by conducting the relative orientation, absolute orientation, and space intersection of a pair of the CCD camera image.

• Journal of the Korea Society of Computer and Information
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• v.11 no.3
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• pp.31-39
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• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for various applications such as intelligent robots, intelligent vehicles, intelligent buildings,..etc. First, we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds.

• Journal of Internet Computing and Services
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• v.7 no.5
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• pp.135-145
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• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for intelligent robots. First. we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds. The experimental results show the feasibility of real-time and behavior-oriented 3D modeling of workspace for robotic manipulative tasks.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.12
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• pp.77-86
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• 2015

It is difficult to extract small valve automatically in noisy 3D point cloud obtained from LIDAR because small object is affected by noise considerably. In this paper, we assume that the valve is a complex model consisting of torus, cylinder and plane represents handle, rib and center plane to extract a pose of the valve. And to extract the pose, we received additional input: center of the valve. We generated histogram of distance between the center and each points of point cloud, and obtain pose of valve by extracting parameters of handle, rib and center plane. Finally, the valve is reconstructed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.13 no.2
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• pp.199-208
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• 1995

Significant developments in the use of digital imagery for close-range photogrammetric metrology have occured in the last few years because of technological advances in digital image processing. Present day needs for applications of digital image processing technique to measurements of photographs obtained with non-metric camera at reduced cost, automation and convenience. In order for this application to be useful, a detailed procedure must be developed. Investigation of this study is given to the detailed procedure for the digital measurements of the object space data from the scanned non-metric photographs.

• Journal of the Korea Society of Computer and Information
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• v.12 no.5
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• pp.83-92
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• 2007

In this paper, we present a design and implementation of three dimensional pointing device using Inertial Navigation System(INS) that acquires coordinates and location information without environmental dependancy. The INS measures coordinates based on the data from gyroscope and accelerometer and corrects the measured data from accelerometer using Kalman-Filter. In order to implement the idea of three dimensional pointing device, we choose a three dimensional Space-recognition mouse and use RFIC wireless communication to send a measured data to receiver for printing out the coordinate on display equipment. Based on INS and Kalman-Filter theoretical knowledge, we design and implement a three dimensional pointing device and verified the usability as an input device that can capture a human's move. also, we describe the applicability of this device in ubiquitous computing environment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.14 no.2
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• pp.189-197
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• 1996

Digital Elevation Model, Ortho-image, and 3-D positional data of terrain features are indispensable elements for producing 3-D image information. In this research, digital pbotogrammetric studies were conducted to measure the 3-D positional data on high performance computer systems in order to replace analytical stereo-plotter-oriented tasks with those of digital workstations. Especially, technical approaches to measure these data on stereo workstation were developed and then the results were applied on SPOT satellite images. As the result of this study, the possibilities of the proposed technologies were tested and proved based on the ap-plication of the digital photogrammetric processes to extract 3-D ground coordinates of terrain features from digital satellite imagery.

• KIPS Transactions on Software and Data Engineering
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• v.10 no.7
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• pp.279-286
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• 2021

Recently, We are carrying out a policy of physical distancing of at least 1m from each other to prevent the spreading of COVID-19 disease in public places. In this paper, we propose a method for measuring distances between people in real time and an automation system that recognizes objects that are within 1 meter of each other from stereo images acquired by drones or CCTVs according to the estimated distance. A problem with existing methods used to estimate distances between multiple objects is that they do not obtain three-dimensional information of objects using only one CCTV. his is because three-dimensional information is necessary to measure distances between people when they are right next to each other or overlap in two dimensional image. Furthermore, they use only the Bounding Box information to obtain the exact coordinates of human existence. Therefore, in this paper, to obtain the exact two-dimensional coordinate value in which a person exists, we extract a person's key point to detect the location, convert it to a three-dimensional coordinate value using Stereo Vision and Camera Calibration, and estimate the Euclidean distance between people. As a result of performing an experiment for estimating the accuracy of 3D coordinates and the distance between objects (persons), the average error within 0.098m was shown in the estimation of the distance between multiple people within 1m.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.4B
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• pp.378-385
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• 2011

The three-dimensional triangulation algorithm that the beacon nodes can be allocated to dynamically in not the experimental region but the practical region is suggested, and the performance of the localization system adapting the suggested algorithm is analyzed. The suggested algorithm adapts the computation method of the three dimensional point that the surfaces of three spheres overlapped, while the traditional triangulation algorithm adapts the computation method of the two dimensional point that three circles are overlapped in order to compute the distance between beacon nodes and mobile node that means a radius. In addition to this, to analyze the performance of the localization system adapting the suggested algorithm, first of all, the allocation layout of beacon nodes is made, and the allocation layout is modeled by selection of ten random distance values between mobile node and beacon nodes for computer simulation of the practical model. Next, the two dimensional coordinator of mobile node that is calculated by the suggested algorithm and the traditional triangulation algorithm is compared with each other. The localization measuring performance about three dimensional coordinator(z axis) of the suggested algorithm is also obtained by comparing with that of the practical model.

• Proceedings of the KSRS Conference
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• 2007.03a
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• pp.105-108
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• 2007

차량에 부착된 회전식 레이저 스캐너는 360도로 회전하면서 데이터를 취득하기 때문에 고정식 레이저 스캐너에 비해 더 광범위하고 정확한 3차원 데이터를 획득하고 생성할 수 있다. 그러나 레이저 데이터 자료는 표적까지의 거리와 취득 당시의 스캐너의 각도로만 구성되어있기 때문에 이를 사용하기 위해서 이 데이터들을 일련의 좌표변환과정을 거쳐서 3차원 직교좌표계로 변환시킨다. 이 논문의 목적은 회전식 레이저에서 획득된 데이터를 DEM화하고，DEM영상의 밝기값， 즉 높이값을 이용하여 도로변을 주위의 사물과 분리하여 추출하는 것에 있다. 도로면은 일반적으로 주위의 사물에 비해 그 높이가 낮고 고르게 분포되어 있다고 가정한다. 그렇기 때문에 이 도로면의 높이를 대표할 수 있는 적절한 임계값을 찾을 수 있다면 도로면의 분리 또한 가능하다. 도로면의 추출을 위해 제안된 방법은 취득된 레이저 데이터를 일정 간격의 높이로 나누고 그에 대한 히스토그램을 구한 후, 가장 많은 빈도수를 나타낸 지역의 값을 염계치로 설정하는 방법과，레이저 스캐너가 지표면을 향할 때의 각도，즉 270도 일 때 취득된 거리의 값들을 수집한 후, 그 평균값을 임계치로 설정하는 방법이다. 이렇게 구해진 임계치를 이용 그 값보다 작은 지역을 도로로 인식하였으며，실험 결과 레이저 스캐너의 각도를 이용한 방법이 더욱 효과적으로 도로를 추출할 수 있음을 확인할 수 있었다.