• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.33-41
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• 2015

Recent developments in robotics and intelligent vehicle area, bring interests of people in an autonomous driving ability and advanced driving assistance system. Especially fully automatic parking ability is one of the key issues of intelligent vehicles, and accurate parked vehicles detection is essential for this issue. In previous researches, many types of sensors are used for detecting vehicles, 2D LiDAR is popular since it offers accurate range information without preprocessing. The L shape feature is most popular 2D feature for vehicle detection, however it has an ambiguity on different objects such as building, bushes and this occurs misdetection problem. Therefore we propose the accurate vehicle detection method by using a 3D complete vehicle model in 3D point clouds acquired from front inclined 2D LiDAR. The proposed method is decomposed into two steps: vehicle candidate extraction, vehicle detection. By combination of L shape feature and point clouds segmentation, we extract the objects which are highly related to vehicles and apply 3D model to detect vehicles accurately. The method guarantees high detection performance and gives plentiful information for autonomous parking. To evaluate the method, we use various parking situation in complex urban scene data. Experimental results shows the qualitative and quantitative performance efficiently.

• Journal of Biosystems Engineering
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• v.23 no.4
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• pp.381-390
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• 1998

An algorithm to extract the 3-D geometric information of a static object was developed using a set of 2-D computer vision system and a laser structured lighting device. As a structured light pattern, multi-parallel lines were used in the study. The proposed algorithm was composed of three stages. The camera calibration, which determined a coordinate transformation between the image plane and the real 3-D world, was performed using known 6 pairs of points at the first stage. Then, utilizing the shifting phenomena of the projected laser beam on an object, the height of the object was computed at the second stage. Finally, using the height information of the 2-D image point, the corresponding 3-D information was computed using results of the camera calibration. For arbitrary geometric objects, the maximum error of the extracted 3-D feature using the proposed algorithm was less than 1~2mm. The results showed that the proposed algorithm was accurate for 3-D geometric feature detection of an object.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.2
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• pp.429-435
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• 2010

Three dimensional (3-D) object detection and pose estimation from a single view query image has been an important issue in various fields such as medical applications, robot vision, and manufacturing automation. However, most of the existing methods are not appropriate in a real time environment since object detection and pose estimation requires extensive information and computation. In this paper, we present a fast 3-D object detection and pose estimation scheme based on surrounding camera view-changed images of objects. Our scheme has two parts. First, we detect images similar to the query image from the database based on the shape feature, and calculate candidate poses. Second, we perform accurate pose estimation for the candidate poses using the scale invariant feature transform (SIFT) method. We earned out extensive experiments on our prototype system and achieved excellent performance, and we report some of the results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.4
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• pp.277-285
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• 2004

We present a new hybrid stereo matching technique in terms of the co-operation of area-based stereo and feature-based stereo. The core of our technique is that feature matching is carried out by the reference of the disparity evaluated by area-based stereo. Since the reference of the disparity can significantly reduce the number of feature matching combinations, feature matching error can be drastically minimized. One requirement of the disparity to be referenced is that it should be reliable to be used in feature matching. To measure the reliability of the disparity, in this paper, we employ the self-consistency of the disunity Our suggested technique is applied to the detection of 3D line segments by 2D line matching using our hybrid stereo matching, which can be efficiently utilized in the generation of the rooftop model from urban imagery. We carry out the experiments on our hybrid stereo matching scheme. We generate synthetic images by photo-realistic simulation on Avenches data set of Ascona aerial images. Experimental results indicate that the extracted 3D line segments have an average error of 0.5m and verify our proposed scheme. In order to apply our method to the generation of 3D model in urban imagery, we carry out Preliminary experiments for rooftop generation. Since occlusions are occurred around the outlines of buildings, we experimentally suggested multi-image hybrid stereo system, based on the fusion of 3D line segments. In terms of the simple domain-specific 3D grouping scheme, we notice that an accurate 3D rooftop model can be generated. In this context, we expect that an extended 3D grouping scheme using our hybrid technique can be efficiently applied to the construction of 3D models with more general types of building rooftops.

• Fashion & Textile Research Journal
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• v.12 no.5
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• pp.582-590
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• 2010

Garment design needs an iterative manipulation of 2D patterns to generate a final sloper. Traditionally there have been two kinds of design methodologies such as the flat pattern method and the pattern draping method. But today, it is possible to combine the advantages from the two methods due to the realistic cloth simulation techniques. We devised a new garment design system which starts from 3D initial drape simulation result and then modifies the garment by editing the 2D flat patterns synchronously. With this interactive methodology using real-time pattern deformation technique, the designer can freely change a pattern shape by watching its 3D outlook in real-time. Also the final garment data were given relative coordinates with respect to the human anthropometric feature points detected by an automatic body feature detection algorithm. Using the relative human body coordinate system, the final garments can be re-used to an arbitrary body data without repositioning in the drape simulation. A female shirt was used for an example and a 3D body scan data was used for an illustration of the feature point detection algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.1
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• pp.347-370
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• 2019

In the computer-aided detection (CAD) system of pulmonary nodules, a high false positive rate is common because the density and the computed tomography (CT) values of the vessel and the nodule in the CT images are similar, which affects the detection accuracy of pulmonary nodules. In this paper, a method of automatic detection of pulmonary nodules based on multi-scale enhancement filters and 3D shape features is proposed. The method uses an iterative threshold and a region growing algorithm to segment lung parenchyma. Two types of multi-scale enhancement filters are constructed to enhance the images of nodules and blood vessels in 3D lung images, and most of the blood vessel images in the nodular images are removed to obtain a suspected nodule image. An 18 neighborhood region growing algorithm is then used to extract the lung nodules. A new pulmonary nodules feature descriptor is proposed, and the features of the suspected nodules are extracted. A support vector machine (SVM) classifier is used to classify the pulmonary nodules. The experimental results show that our method can effectively detect pulmonary nodules and reduce false positive rates, and the feature descriptor proposed in this paper is valid which can be used to distinguish between nodules and blood vessels.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.157-160
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• 2003

In this paper. we propose a simple and effective video scene change detection algorithm using a 3-D DCT. The 3-D DCT that we employ is a 2$\times$2$\times$2 DCT has simple computations composed only of adding and shifting operations. The simple average values of multiresolution represented video using the 2$\times$2$\times$2 DCT are used as a detection feature vector.

• ETRI Journal
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• v.34 no.5
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• pp.791-794
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• 2012

We propose an efficient framework to realistically render 3D faces with a reduced set of points. First, a robust active appearance model is presented to detect facial features in the projected faces under different illumination conditions. Then, an adaptive simplification of 3D faces is proposed to reduce the number of points, yet preserve the detected facial features. Finally, the point model is rendered directly, without such additional processing as parameterization of skin texture. This fully automatic framework is very effective in rendering massive facial data on mobile devices.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1848-1851
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• 1997

This paper presents the development of depth detection algorithm for the 3D Endoscopic Data using a stereo matchod and depth calcuation.

• Journal of Multimedia Information System
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• v.2 no.1
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• pp.171-178
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• 2015

This article describes 3 dimensional (3D) face recognition system using histogram of oriented gradients (HOG) based on face curvature. The surface curvatures in the face contain the most important personal feature information. In this paper, 3D face images are recognized by the face components: cheek, eyes, mouth, and nose. For the proposed approach, the first step uses the face curvatures which present the facial features for 3D face images, after normalization using the singular value decomposition (SVD). Fisherface method is then applied to each component curvature face. The reason for adapting the Fisherface method maintains the surface attribute for the face curvature, even though it can generate reduced image dimension. And histogram of oriented gradients (HOG) descriptor is one of the state-of-art methods which have been shown to significantly outperform the existing feature set for several objects detection and recognition. In the last step, the linear discriminant analysis is explained for each component. The experimental results showed that the proposed approach leads to higher detection accuracy rate than other methods.