• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1153-1163
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• 2014

An efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.256-259
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• 2003

This paper proposes OPTICAL MARKER fer registering process - one of the 3D measurement process : scan registering - merging - measurement. If the registering work is carried out manually, it can be accompanied with much time and many errors. Because the patterned marker make registering process automatic, many firms use it now. But the physical shape of existing markers is the source of the data loss caused by hiding surface, and the marker arrangement is the source of the time loss. The optical marker proposed in this paper has marker generator, organized a large number of binary coded control laser diode, separate from 3D scan object. So, it does not take much time for the marker disposition, and it is not the origin of the data loss, and the binary coded laser information make the auto-registering possible.

• Imaging Science in Dentistry
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• 제53권1호
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• pp.21-26
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• 2023

Purpose: A fully digital approach to oral prosthodontic rehabilitation requires the possibility of combining (i.e., registering) digital documentation from different sources. This becomes more complex in an edentulous jaw, as fixed dental markers to perform reliable registration are lacking. This validation study aimed to evaluate the reproducibility of 1) intraoral scanning and 2) soft tissue-based registration of an intraoral scan with a cone-beam computed tomography (CBCT) scan for a fully edentulous upper jaw. Materials and Methods: Two observers independently performed intraoral scans of the upper jaw in 14 fully edentulous patients. The palatal vault of both surface models was aligned, and the inter-observer variability was assessed by calculating the mean inter-surface distance at the level of the alveolar crest. Additionally, a CBCT scan of all patients was obtained and a soft tissue surface model was generated using patient-specific gray values. This CBCT soft tissue model was registered with the intraoral scans of both observers, and the intraclass correlation coefficient(ICC) was calculated to evaluate the reproducibility of the registration method. Results: The mean inter-observer deviation when performing an intraoral scan of the fully edentulous upper jaw was 0.10±0.09 mm. The inter-observer agreement for the soft tissue-based registration method was excellent(ICC=0.94; 95% confidence interval, 0.81-0.98). Conclusion: Even when teeth are lacking, intraoral scanning of the jaw and soft tissue-based registration of an intraoral scan with a CBCT scan can be performed with a high degree of precision.

• 한국의류학회지
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• 제30권5호
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• pp.722-732
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• 2006

The pattern making of the tight-fitting collars which often used in diving suits, dance wear, or cycle wear has not been fully established. To develop tight-fitting collar pattern directly from 3D images from the representative somatotypes, dressforms developed by Jaeun Jung were used. The 3D scan data of the four male dressforms were obtained using Exyma-1200. Triangle Simplification and the Runge-Kutta method were applied to reduce the 3D scan data points and to make the segmented triangular patches in a plane from 3D data. As results, apparent differences between the tight-fitting collar patterns obtained from the 3D scan data and the ordinary 2D collar patterns were found around the center back line. The curvatures of the center back line were higher in all types of the tight-fitting collar than in the ordinary collar pattern. Relative differences in the shape of collar lines among four representative Korean men were reported. To fit the curved shape of the back neckline, 1.8 cm should be reduced from the upper neckline in average. We suggested the direct pattern making method for the 2D tight-fitting collar patterns considering the 3D shape of various types of men's dressform.

• 한국의류학회지
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• 제38권4호
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• pp.572-583
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• 2014

This study analyzes the foot shape of female high school students using 3D foot scan data based on a comparison with adult women (20s'-30s'). Data were collected from the foot anthropometry of 199 female high school students in Gwangju and Jeollanam-do. The right foot was measured indirectly by 3D laser scanner. There are 16 items in the foot anthropometric measurements. The $6^{th}$ Size Korea (measured by 3D scan data) is used for women's foot data. The results of the 3D measurements data investigation show that the foot length and foot width became longer and wider as the age increased. It is classified by three types after analyzing foot shape. Type 1 (28.1%) represented the shortest foot length, the narrowest foot width as well as the thick foot and long ankle shape. Type 2 (4.3%) represented the wide foot width such as the wide lateral ball width and semi-thickness shape. Type 3 (67.7%) referred to the widest foot width, flat foot and short ankle shape.

• 한국컴퓨터그래픽스학회논문지
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• 제29권3호
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• pp.59-67
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• 2023

본 논문은 몸체 3D 스캔과 모션 캡처 장비를 활용한 3D 애니메이션 형태의 바디 프로필을 제안한다. 사용자는 미리 정해진 몇 개의 포즈에 대하여 3D 스캔을 수행함으로써 애니메이션 형태를 가진 자신만의 바디 프로필을 제작할 수 있다. 이를 위하여 일련의 포즈를 수행하는 템플릿 애니메이션을 모션 캡처를 통하여 획득하였고, 사용자로부터 획득된 3D 스캔 데이터를 애니메이션의 각 정점 포즈에 포즈 공간 디포머(Pose-space deformer)를 통하여 매핑시켰다. 이를 통하여 만들어진 3D 애니메이션 형태의 바디 프로필은 기존의 정적인 2D 이미지나 3D 스캔데이터보다 사용자에게 더 큰 만족도를 줄 수 있음을 확인할 수 있다.

• 한국의류학회지
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• 제32권1호
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• pp.24-34
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• 2008

Three dimensional body scan technology is being targeted for utilization in the apparel industry. The purpose of this study was to test reliability of the body scan data targeting from 20 to 24 year old men by comparing 3DM, 3D body-scanning semi-auto measurement extraction method, Scanworx, 3D body-scanning auto measurement extraction method, and traditional anthropometric method. We found significant differences in 9 out of 25 items in upper body measurements using 3DM and 16 out of 25 items using Scanworx. In the range of difference value of scan measures, it showed 1 item in the absolute value of more than 40mm between two measuring methods, 3 items in 20 up to 40mm, and less than 20mm in other items. Overall, in height items, the numerical value of traditional measure was higher and in girth, width, depth items, 3D scan measure was higher. We found out that reliability of 3D measurements taken from whole body scans was different according to scanners, scanning softwares, programs, and subjects.

• 한국의류산업학회지
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• 제10권5호
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• pp.652-659
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• 2008

This study was designed to testify the possibility and devise the method to manipulate the 3D body scan data to produce rounded-belt pattern adaptable to hip-type variation of women in their 20's. The results of this research were as follows : Firstly, based on drop-value distribution of hip and waist girth, 151 subjects were classified into three hip-types; Type 1 (15.23%) was 'cylinder type', showing lowest drop-value, Type 2 (69.54%) was 'average type' and Type3 (15.23%) was 'hourglass type' showing highest drop-value. Secondly, using CAD program, design lines for round shape belt were set on the surface of 3D scan data of representative subject of each type. And divided 3D surfaces were flattened onto the plane by the internal tools of CAD program. The measure, 'lifting value of round belt pattern', implying the level of curve ratio of pattern was higher in back than front. This result might be linked to the fact that the hip part is more protruded than the abdomen part. And the measures also showed highest values in Type 3(hourglass type) and lowest in Type 1(cylinder type), meaning that the pattern of Type 3 showed more rounded shape than that of Type 1. This finding implied that round belt for body type having high drop-value should be shaped more curved. Thirdly, difference ratios of outline length and area between 3D curves(body surface) and 2D plane(pattern) were 4.5% and 1.3%, respectively. This result demonstrated and solidified the feasibility of designing digital garment pattern from 3D body scan data.

• 한국생활과학회지
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• 제15권3호
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• pp.481-490
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• 2006

Adjusting pressure level in the construction of athletes' tight-fitting garments by reducing the elastic knit pattern is a challenging subject, which influences the performance of the wearer directly. Therefore, in this study, relationship between the reduction rates of the basic pattern obtained from 3D human scan data and resultant clothing pressure was explored to improve the fit and pressure exerted by clothing. 3D scan data were obtained using Cyberware and they were transformed into a flat pattern using software based on Runge-Kutta method. Reduction rate was examined by subjective wear test as well as objective pressure measurement. As a result, difference in the length between the original 3D body scan data and the 2D tight-fitting pattern was 0.02$\sim$0.50cm (0.05$\sim$1.06%), which was within the range of tolerable limits in making clothes. Among the five garments, the 3T-pattern was superior in terms of subjective sensation and fit. The pressure of the 3T pattern was 2$\sim$4 gf/cm2 at five locations on the body, which is almost the same or a bit higher than that of Z-pattern. In the case of tight-fitting overall garment, the reduction rate of the pattern in the wale direction is more critical to the subjective sensation than the course direction. It is recommended that the reduction grading rules of course direction should be larger than that of Ziegert for a better fit of tight-fitting garments. In the case of wale direction, however, reduction grading rule should be kept the same as suggested earlier by Ziegert (1988).

• 한국컴퓨터정보학회논문지
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• 제25권5호
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• pp.81-90
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• 2020

직접 측정방법을 기반으로 3차원 스캔 데이터에서 유방의 자동측정을 위한 유방과 관련된 측정점 설정과 이상적인 3차원 스캔 자세를 제안하였다. 특히 직접 측정법에서의 유방 바깥쪽점은 체형과 자세에 따라 변동되기 쉬우므로 3차원 측정법에서는 유방에서 찾는 새로운 방법을 제안하였다. 유방의 윤곽선이 뚜렷하지 않은 유방 위쪽의 유방 위쪽점은 겨드랑접힘점을 기준으로 설정되는데 직접측정법에서의 유방 위쪽점이 3차원 스캔데이터에서 측정된 유방위쪽점보다 높게 설정됨을 알 수 있었다. 그러므로 직접 측정치와 3차원 측정치 간의 오차를 줄이기 위해서는 유방 위쪽점 설정에 관여되는 겨드랑앞접힘점 위치가 명확해야 할 것이다. 유방과 관련된 깊이 항목에서는 유방 바깥쪽점을 제외한 모든 깊이에서 직접 측정치가 높게 나타났는데 이는 피부 눌림에 의한 것으로 판단된다. 또 유방의 굴곡이 심한 유방아래길이와 유방아래 접힘선길이, 유방 안쪽점사이 간격은 굴곡에 의해 3차원 측정치가 직접 측정치보다 높게 나타나 유방에 대한 3차원 측정법이 일반화되기 위해서는 다양한 유방유형에 따른 측정치의 변화를 연구할 필요가 있다.