• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.22-30
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• 2011

Plane detection is very important information for mission-critical of robot in 3D environment. A representative method of plane detection is Hough-transformation. Hough-transformation is robust to noise and makes the accurate plane detection possible. But it demands excessive memory and takes too much processing time. Iterative randomized Hough-transformation has been proposed to overcome these shortcomings. This method doesn't vote all data. It votes only one value of the randomly selected data into the Hough parameter space. This value calculated the value of the parameter of the shape that we want to extract. In Hough parameters space, it is possible to detect accurate plane through detection of repetitive maximum value. A common problem in these methods is that it requires too much computational cost and large number of memory space to find the distribution of mixed multiple planes in parameter space. In this paper, we detect multiple planes only via data sampling using Self Organizing Map method. It does not use conventional methods that include transforming to Hough parameter space, voting and repetitive plane extraction. And it improves the reliability of plane detection through division area searching and planarity evaluation. The proposed method is more accurate and faster than the conventional methods which is demonstrated the experiments in various conditions.

• Journal of Korean Society for Geospatial Information Science
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• v.21 no.2
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• pp.99-105
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• 2013

In rapidly developing urban areas that include high-rise, large, and complex buildings, indoor and outdoor maps in GIS become a basis for utilizing and sharing information pertaining to various aspects of the real world. Although an indoor mapping has gained much attentions, research efforts are mostly in 2D and 3D modeling of terrain and buildings. Therefore, to facilitate fast and accurate construction of indoor GIS, this paper proposes a semi-automatic method consisting of preprocessing, 2D mapping, and 3D mapping stages. The preprocessing is designed to estimate heights of building interiors and to identify noise data from point clouds. In the 2D mapping, a floor map is extracted with a tracing grid and a refinement method. In the 3D mapping, a 3D wireframe model is created with heights from the preprocessing stage. 3D mesh data converted from noise data is combined with the 3D wireframe model for detail modeling. The proposed method was applied to point clouds depicting a hallway in a building. Experiment results indicate that the proposed method can be utilized to construct 2D and 3D maps for indoor GIS.

• Smart Media Journal
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• v.2 no.4
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• pp.60-65
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• 2013

In this paper, we propose a high-resolution disparity map generation method using a low-resolution time-of-flight (TOF) depth camera and color camera. The TOF depth camera is efficient since it measures the range information of objects using the infra-red (IR) signal in real-time. It also quantizes the range information and provides the depth image. However, there are some problems of the TOF depth camera, such as noise and lens distortion. Moreover, the output resolution of the TOF depth camera is too small for 3D applications. Therefore, it is essential to not only reduce the noise and distortion but also enlarge the output resolution of the TOF depth image. Our proposed method generates a depth map for a color image using the TOF camera and the color camera simultaneously. We warp the depth value at each pixel to the color image position. The color image is segmented using the mean-shift segmentation method. We define a cost function that consists of color values and segmented color values. We apply a weighted average filter whose weighting factor is defined by the random walk probability using the defined cost function of the block. Experimental results show that the proposed method generates the depth map efficiently and we can reconstruct good virtual view images.

• Journal of Broadcast Engineering
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• v.21 no.6
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• pp.878-888
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• 2016

This paper proposes an efficient method to remove the boundary artifacts of rendered views caused by damaged depth maps in the 3D video system. First, characteristics of boundary artifacts with the compression noise in depth maps are carefully studied. Then, the artifacts suppression method is proposed by the iterative projection onto convex sets (POCS) algorithm with setting the convex set in pixel and frequency domain. The proposed method is applied to both texture and depth maps separately during view rendering. The simulation results show the boundary artifacts are greatly reduced with improving the quality of synthesized views.

• Progress in Medical Physics
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• v.10 no.3
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• pp.125-131
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• 1999

T$_1$/T$_2$ weighted images are being used to give the characteristic contrast among the various tissues and the norma;/abnormal tissues. Abnormalities in tissues, in general, accompany the biochemical changes and eventually structural ones in which results in the change in T$_1$ and T$_2$ relaxation times of water protons. It has been suggested that the mapping of T$_1$/T$_2$ values may serve as a possible tool for the quantitative evaluation of the degree of abnormality. On reconstructing T$_1$/T$_2$ maps(or any other MR parametric map), only corresponding variables are to be varied, such as TE for T$_2$, TI or TR for T$_1$ and b-factor for diffusion images. But often the receiver gain is taken for the optimal usage of A/D converter, so that the set of the image data has different receiver gain. It must be corrected before any attempt to reconstruct the maps. Here we developed method of correcting receiver gain variation effect, using the standard deviation of noise on individual image. The resultant T$_1$ and T$_2$ values were very comparable to the other reported values.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.143-151
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• 2024

In this study, we present a mapping framework for 3D spatial reconstruction of digital twin model using navigation and perception sensors mounted on an Autonomous Surface Vehicle (ASV). For improving the level of realism of digital twin models, 3D spatial information should be reconstructed as a digitalized spatial model and integrated with the components and system models of the ASV. In particular, for the 3D spatial reconstruction, color and 3D point cloud data which acquired from a camera and a LiDAR sensors corresponding to the navigation information at the specific time are required to map without minimizing the noise. To ensure clear and accurate reconstruction of the acquired data in the proposed mapping framework, a image preprocessing was designed to enhance the brightness of low-light images, and a preprocessing for 3D point cloud data was included to filter out unnecessary data. Subsequently, a point matching process between consecutive 3D point cloud data was conducted using the Generalized Iterative Closest Point (G-ICP) approach, and the color information was mapped with the matched 3D point cloud data. The feasibility of the proposed mapping framework was validated through a field data set acquired from field experiments in a inland water environment, and its results were described.

• IEIE Transactions on Smart Processing and Computing
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• v.1 no.3
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• pp.161-170
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• 2012

This paper presents an efficient and robust approach for determining the correspondence between unbalanced stereo images. The disparity vectors were used instead of feature points, such as corners, to calculate a correspondence relationship. For a faster and optimal estimation, the vectors were classified into several regions, and the homography of each region was calculated using the RANSAC algorithm. The correspondence image was calculated from the images transformed by each homography. Although it provided good results under normal conditions, it was difficult to obtain reliable results in an unbalanced stereo pair. Therefore, a balancing method is also proposed to minimize the unbalance effects using the histogram specification and structural similarity index. The experimental results showed that the proposed approach outperformed the baseline algorithms with respect to the speed and peak-signal-to-noise ratio. This work can be applied to practical fields including 3D depth map acquisition, fast stereo coding, 2D-to-3D conversion, etc.

• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.7
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• pp.642-649
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• 2012

This paper deals with a copper die casting induction motor which has several advantages of motor performance. The developed motor is used as spindle motor in machining center. The dynamic characteristic analysis of rotor is dealt with for precision machining. The critical speed of rotor considering rotation and gyroscopic effect should be above operating speed, 18,000 rpm, and have a 201 % sufficient separation margin. Also, the 3-D unbalance vibration response analysis is performed and enabled the prediction of the expected vibration amplitude by unbalance in high speed. The unbalance vibration responses of each position on the rotor are satisfied with allowable vibration displacement of API 611 standard according to balancing G grade(G 0.4, G 2.5, G 6.3). Copper die casting high speed induction motor is successfully developed and verified by experiment.

• Molecules and Cells
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• v.44 no.12
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• pp.883-892
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• 2021

Genome-wide chromosome conformation capture (3C)-based high-throughput sequencing (Hi-C) has enabled identification of genome-wide chromatin loops. Because the Hi-C map with restriction fragment resolution is intrinsically associated with sparsity and stochastic noise, Hi-C data are usually binned at particular intervals; however, the binning method has limited reliability, especially at high resolution. Here, we describe a new method called HiCORE, which provides simple pipelines and algorithms to overcome the limitations of single-layered binning and predict core chromatin regions with three-dimensional physical interactions. In this approach, multiple layers of binning with slightly shifted genome coverage are generated, and interacting bins at each layer are integrated to infer narrower regions of chromatin interactions. HiCORE predicts chromatin looping regions with higher resolution, both in human and Arabidopsis genomes, and contributes to the identification of the precise positions of potential genomic elements in an unbiased manner.