• 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 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.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1998.11a
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• pp.195-199
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• 1998

본 논문은 감성측정평가 시뮬레이터 구축의 일환으로 개발한 3차원 시청각 환경 제시기가 생성하는 가상환경의 현실감 점도를 평가하는데 목적이 있다. 이를 위하여 가상환경의 최소 구성성분요소들로 Size, Length, Distance 등을 설정하였으며, 이들에 대하여 가상환경과 실제환경에서 각각 실험을 통해 피실험자들의 인식전도를 측정하였다. 실험에서 사용한 측정방법은 가상세계에 대한 인식실험을 위해 개발된 Size/Distance Estimation, Sketch Map, Object Search 방법 등을 사용하였으며, 가상환경과 실제환경에서 각각 도출된 실험결과의 차이를 토대로 3차원 시청각 환경 제시기의 현실감 수준을 평가하였다. 본 실험을 위해 구성한 피실험자의 집단은 컴퓨터 사용에 익숙한 20대 이공계열 84명(남:56, 여:28)의 학생들을 대상으로 하였다. 본 논문의 의의로는 3차원 시청각 환경 제시기가 생성하는 가상환경의 현실감 수준을 평가함으로써 개발 시스템의 보완 및 발전과 본격적인 감성공학 분야의 활용을 위한 지침을 마련하는데 있다.

• The Journal of the Korea Contents Association
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• v.11 no.12
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• pp.619-628
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• 2011

Normally vision-based 3D human pose recognition technology is used to method for convey human gesture in HCI(Human-Computer Interaction). 2D pose model based recognition method recognizes simple 2D human pose in particular environment. On the other hand, 3D pose model which describes 3D human body skeletal structure can recognize more complex 3D pose than 2D pose model in because it can use joint angle and shape information of body part. In this paper, we describe a development of interactive game contents using pose recognition interface that using 3D human body joint information. Our system was proposed for the purpose that users can control the game contents with body motion without any additional equipment. Poses are recognized comparing current input pose and predefined pose template which is consist of 14 human body joint 3D information. We implement the game contents with the our pose recognition system and make sure about the efficiency of our proposed system. In the future, we will improve the system that can be recognized poses in various environments robustly.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.05a
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• pp.13-15
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• 2008

유비쿼터스 컴퓨팅 환경에서 상황 인지는 지능형 서비스의 필수 요소로 인식되어 왔다. 현재 상황을 인식함에 있어 위치 인식이 주를 이루고 있다. 그러나 기존의 연구들이 제안하는 2차원 공간에서의 위치 관계만으로는 지능형 서비스가 필요로 하는 상황 모델 구축에 부족하다. 이에 본 연구에서는 3차원 공간에서의 위치 관계 인식 및 추론과정을 통한 3차원 상황 모델을 구축하기 위한 방법을 제안한다. 3차원 공간 상황은 서비스가 제공되는 환경에 대한 입체적 상황을 제공함으로써, 보다 상세한 상황에 대한 정보를 제공하고 이에 준한 상황에 민감한 서비스를 제공할 수 있다. 3차원 상황 모델은 공간을 수평/수직의 격자로 분할하여 연속된 평면의 집합으로 분류하여, 각 평면들 사이의 연계 정보에 근거하여 만들어진다. 각 평면은 방향 정보와 위상 정보의 조합으로 구성되고 이들 정보는 추론 규칙에 의해 서로 변경될 수 있다.

• Journal of KIISE:Software and Applications
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• v.35 no.12
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• pp.789-799
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• 2008

For the communication between human and computer in an interactive computing environment, the gesture recognition has been studied vigorously. The algorithms which use the 2D features for the feature extraction and the feature comparison are faster, but there are some environmental limitations for the accurate recognition. The algorithms which use the 2.5D features provide higher accuracy than 2D features, but these are influenced by rotation of objects. And the algorithms which use the 3D features are slow for the recognition, because these algorithms need the 3d object reconstruction as the preprocessing for the feature extraction. In this paper, we propose a method to extract the 3D features combined with the 3D object reconstruction in real-time. This method generates three kinds of 3D projection maps using the modified GPU-based visual hull generation algorithm. This process only executes data generation parts only for the gesture recognition and calculates the Hu-moment which is corresponding to each projection map. In the section of experimental results, we compare the computational time of the proposed method with the previous methods. And the result shows that the proposed method can apply to real time gesture recognition environment.

• KSCI Review
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• v.14 no.1
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• pp.241-248
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• 2006

The recognition of a relatively big and rarely movable object. such as refrigerator and air conditioner, etc. is necessary because these objects can be crucial global stable features of Simultaneous Localization and Map building(SLAM) in the indoor environment. In this paper. we propose a novel method to recognize these big objects using a sequence of 3D scenes. The particles representing an object to be recognized are scattered to the environment and then the probability of each particles is calculated by the matching test with 3D lines of the environment. Based on the probability and degree of convergence of particles, we can recognize the object in the environment and the pose of object is also estimated. The experimental results show the feasibility of incremental object recognition based on particle filtering and the application to SLAM

• The KIPS Transactions:PartB
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• v.15B no.5
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• pp.435-448
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• 2008

3D posture recognition is a solution to overcome the limitation of 2D posture recognition. There are many researches carried out for 3D posture recognition using 3D data. The 3D data consist of massive surface points which are rich of information. However, it is difficult to extract the important features for posture recognition purpose. Meanwhile, it also consumes lots of processing time. In this paper, we introduced a dimension reduction method that transform 3D surface points of an object to 2D data representation in order to overcome the issues of feature extraction and time complexity of 3D posture recognition. For a better feature extraction and matching process, a cylindrical boundary is introduced in meshless parameterization, its offer a fast processing speed of dimension reduction process and the output result is applicable for recognition purpose. The proposed approach is applied to hand and human posture recognition in order to verify the efficiency of the feature extraction.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.1
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• pp.80-86
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• 2013

The 3-Dimensional(3D) localization system based on beacon expansion and coordinate-space disassembly for the design of the 3D localization system in indoor environment is proposed and the performance of the proposed system is analyzed in this paper. The localization ratio of the 3D localization system adapts the proposed algorithm is analyzed by the calculation of errors occurred in the coordinates that the mobile node locates. It is indicated that the average error distance of the 3D localization system adapts the proposed algorithm is less than that of the 3D localization system not adapts the proposed algorithm as 0.47m. The localization average distance error in 12 coordinates is indicated that the 1.5m case is less than 2.5m case as 0.38m by some experimentations under the condition that the distances between the ceiling and the mobile node are 1.5m and 2.5m measured from the ceiling respectively. It is seen that the 3D localization system based on beacon expansion and coordinate-space disassembly can improved the degradation of the quality of service that is caused by some conditions and performance differences in sensors.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06c
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• pp.448-450
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• 2012

본 논문에서는 Kinect 방식의 RGB-D 영상센서를 사용하여, 깊이(Depth) 영상으로부터 3차원 객체의 기하정보를 표현하는 표면 정규 벡터(Surface Normal Vector)를 추출하고, 그 결과를 영상화하는 방법을 제안하며, 제안된 방법으로 생성된 영상으로부터 깊이 영상의 특징점 및 특징 기술자를 추출하여 3차원 객체 인식 성능을 향상시키는 방법을 제안한다. 또한 생성된 RGB-D 특징 기술자들을 객체 단위로 구분 가능한 코드북(CodeBook) 학습을 통한 인식방법을 제안하여 객체의 인식 성능을 높이는 방법을 제안한다. 제안하는 RGB-D 기반의 특징 추출 및 학습 방법은 텍스쳐 유무, 카메라 회전 및 이동 변화 등의 환경변화에 강건함을 실험적으로 증명하였으며, 이 방법은 Kinect 방식의 RGB-D 영상을 사용하는 3차원 객체/공간 인식 및 추적, 혹은 이를 응용하는 증강현실 시스템에 적용하여 사용될 수 있다.