• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권1호
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• pp.302-320
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• 2017

In this paper, an innovative robust feature detection and matching strategy for visual odometry based on stereo image sequence is proposed. First, a sparse multiscale 2D local invariant feature detection and description algorithm AKAZE is adopted to extract the interest points. A robust feature matching strategy is introduced to match AKAZE descriptors. In order to remove the outliers which are mismatched features or on dynamic objects, an improved random sample consensus outlier rejection scheme is presented. Thus the proposed method can be applied to dynamic environment. Then, geometric constraints are incorporated into the motion estimation without time-consuming 3-dimensional scene reconstruction. Last, an iterated sigma point Kalman Filter is adopted to refine the motion results. The presented ego-motion scheme is applied to benchmark datasets and compared with state-of-the-art approaches with data captured on campus in a considerably cluttered environment, where the superiorities are proved.

• Archives of Pharmacal Research
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• 제21권5호
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• pp.496-502
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• 1998

The present study was carried out to determine the possible use of cTn-I in the cardiac myofibrillar architecture, as a potential target for in vivo radioimmunodetection of cardiac damage in a brain death pig model. Radioiodiantion of the anti-cTn-I 5F4 McAb was carried out by lactoperoxidase method. the percentage iodine incorporation achieved was 70-75%. The radioiodinated McAbs were purified on Sephadex G-25 column and characterised by Paper chromatography, Phast Gel electrophoresis and electroimmunoblotting. Radioiodinated anticTn-I 5F4 McAbs were employed alongside Pyrophosphate($Tc_{99m}$-PPi$) and $Thallium^{201}$ chloride($TI^{201}$) in 24 landrace pigs (brain-dead=18 & sham-operated=6). The percentage cardiac uptake of the radiolabelled antibody injected dose was significantly higher in the brain dead animals(0.196%) as compared to that of sham-operated animals (0.11%). Specific in vivo localization of radiolabelled McAbs in the infarcted cardiac tissue was confirmed by computer-aided reconstruction of 3-D images of the isolated heart. The preliminary results of the study revealed preferential uptake of radiolabelled antibody at the site of myocyte damage resulting from artificially induced brain death.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.877-882
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• 2016

Disaster robots have accepted tele-operation in order to share the intelligence of human operators and robot systems. Virtual wall is one of the tele-operation technology to support recognition of human operator. If the virtual wall can block the robot from dangers, the operator will feel comfortable and can concentrate on fundamental missions. In this paper, we proposes and compares three methods for virtual wall visualization in tele-operation using 3D reconstruction. First is a virtual wall visualized only with edges. A wall filled with transparent color is the second method. Finally, third method is a texture-mapped virtual wall. In the experiments, we discuss their merits and demerits in view of robot tele-operation.

• ETRI Journal
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• 제33권4호
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• pp.537-546
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• 2011

This paper introduces an automated method for building height recovery through the integration of high-resolution satellite images and digital vector maps. A cross-correlation matching method along the vertical line locus on the Ikonos images was deployed to recover building heights. The rational function models composed of rational polynomial coefficients were utilized to create a stereopair of the epipolar resampled Ikonos images. Building footprints from the digital maps were used for locating the vertical guideline along the building edges. The digital terrain model (DTM) was generated from the contour layer in the digital maps. The terrain height derived from the DTM at each foot of the buildings was used as the starting location for image matching. At a preset incremental value of height along the vertical guidelines derived from vertical line loci, an evaluation process that is based on the cross-correlation matching of the images was carried out to test if the top of the building has reached where maximum correlation occurs. The accuracy of the reconstructed buildings was evaluated by the comparison with manually digitized 3D building data derived from aerial photographs.

• ETRI Journal
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• 제33권4호
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• pp.517-527
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• 2011

Currently, there is a considerable interest in 3D object reconstruction using terrestrial laser scanner (TLS) systems due to their ability to automatically generate a considerable amount of points in a very short time. To fully map an object, multiple scans are captured. The different scans need to be registered with the help of the point cloud in the overlap regions. To guarantee reliable registration, the scans should have large overlap ratio with good geometry for the estimation of the transformation parameters among these scans. The objective of this paper is to propose a registration method that relaxes/eliminates the overlap requirement through the utilization of photogrammetrically reconstructed features. More specifically, a point-based procedure, which utilizes non-conjugate points along corresponding linear features from photogrammetric and TLS data, will be used for the registration. The non-correspondence of the selected points along the linear features is compensated for by artificially modifying their weight matrices. The paper presents experimental results from simulated and real datasets to illustrate the feasibility of the proposed procedure.

• Journal of the Optical Society of Korea
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• 제18권1호
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• pp.37-44
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• 2014

The use of a laser interferometer as a metrological tool in micro-optics measurement is demonstrated. A transmissive interferometer is effective in measuring an optical specimen having a high angle slope. A configuration that consists of an optical resolution of 0.62 micron is adapted to measure a specimen, which is a micro-Fresnel lens-shaped lenticular lens. The measurement result shows a good repeatability at each fraction of facets, however, a reconstruction of the lens shape profile is disturbed by a known problem of $2{\pi}$-ambiguity. To solve this $2{\pi}$-ambiguity problem, we propose a two-step phase unwrapping method. In the first step, an unwrapped phase map is obtained by using a conventional unwrapping method. Then, a proposed unwrapping method based on the shape modeling is applied to correct the wrongly unwrapped phase. A measured height of each facet is compared with a profile result measured by AFM.

• Journal of Computational Design and Engineering
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• 제1권1호
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• pp.13-26
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• 2014

Recently, renovations of plant equipment have been more frequent because of the shortened lifespans of the products, and as-built models from large-scale laser-scanned data is expected to streamline rebuilding processes. However, the laser-scanned data of an existing plant has an enormous amount of points, captures intricate objects, and includes a high noise level, so the manual reconstruction of a 3D model is very time-consuming and costly. Among plant equipment, piping systems account for the greatest proportion. Therefore, the purpose of this research was to propose an algorithm which could automatically recognize a piping system from the terrestrial laser-scanned data of plant equipment. The straight portion of pipes, connecting parts, and connection relationship of the piping system can be recognized in this algorithm. Normal-based region growing and cylinder surface fitting can extract all possible locations of pipes, including straight pipes, elbows, and junctions. Tracing the axes of a piping system enables the recognition of the positions of these elements and their connection relationship. Using only point clouds, the recognition algorithm can be performed in a fully automatic way. The algorithm was applied to large-scale scanned data of an oil rig and a chemical plant. Recognition rates of about 86%, 88%, and 71% were achieved straight pipes, elbows, and junctions, respectively.

• 한국측량학회지
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• 제38권5호
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• pp.425-433
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• 2020

Three-dimensional data has been used for different applications such as robotics, building reconstruction, and so on. 3D data can be generated from an optical camera or a laser scanner. Especially, a wearable multi-sensor system including the above-mentioned sensors is an optimized structure that can overcome the drawbacks of each sensor. After finding the geometric relationships between sensors, georeferencing of the datasets acquired from the moving system, should be carried out. Especially, in an indoor environment, error propagation always causes problem in the georeferencing process. To improve the accuracy of this process, other sources of data were used to combine with LiDAR (Light Detection and Ranging) data, and various registration methods were also tested to find the most suitable way. More specifically, this paper proposed a new process of NDT (Normal Distribution Transform) to register the LiDAR point cloud, with additional information from other sensors. For real experiment, a wearable mapping system was used to acquire datasets in an indoor environment. The results showed that applying the new process of NDT and combining LiDAR data with IMU (Inertial Measurement Unit) information achieved the best result with the RMSE 0.063 m.

• ETRI Journal
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• 제41권1호
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• pp.84-92
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• 2019

Recent advances in digital holography in the far-infrared region of the spectrum have demonstrated the potential use of digital holography in homeland security as a tool to observe hostile environments in which smoke, flames, and dust impair vision. However, to make this application practical, it is necessary to simplify the optical setup. Here, we show an off-axis, self-reference scheme that spills the reference beam out from the object beam itself and avoids the need for a complex interferometric arrangement. We demonstrate that this scheme allows the reconstruction of high-quality holograms of objects captured under visible as well as far-infrared light exposure. This could pave the way to the industrialization of holographic systems to enable users to see through fire. Moreover, the quantitative nature of the holographic signal is preserved. Thus, the reported results demonstrate the possibility to use this setup for optical metrology.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2019년도 하계학술대회
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• pp.222-224
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• 2019

Light Field (LF) camera captures not only the light intensity but also the light direction coming to camera. While the rich information captured by LF camera enables many interesting applications such as digital refocusing, viewpoint changing, and 3D reconstruction, but it also requires powerful coding tools to reduce its large volume of data. In this paper, we investigate using the intra prediction scheme of the versatile video coding (VVC), which is the most recent video coding technology currently under developing, to compress the LF image. The Intra Block Copy (IBC) technique in VVC is exploited considering special LF image structure. The experimental result shows that VVC intra predict ion outperforms the H.265/HEVC intra coding technique in encoding LF data irrespective of using the IBC mode or not.