• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.11
• /
• pp.996-1002
• /
• 2015

In this paper, we present an effective system for the 3D scene labeling of objects from RGB-D videos. Our system uses a Markov Random Field (MRF) over a voxel representation of the 3D scene. In order to estimate the correct label of each voxel, the probabilistic graphical model integrates both scores from sliding window-based object detectors and also from object location prior maps. Both the object detectors and the location prior maps are pre-trained from manually labeled RGB-D images. Additionally, the model integrates the scores from considering the geometric constraints between adjacent voxels in the label estimation. We show excellent experimental results for the RGB-D Scenes Dataset built by the University of Washington, in which each indoor scene contains tabletop objects.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.3
• /
• pp.186-191
• /
• 2016

This paper addresses the development of 3D data acquisition system (3D scanner) based laser structured-light image. The 3D scanner consists of a stripe laser generator, a conventional camera, and a rotation table. The stripe laser onto an object has distortion according to 3D shape of an object. By analyzing the distortion of the laser stripe in a camera image, the scanner obtains a group of 3D point data of the object. A simple semiconductor stripe laser diode is adopted instead of an expensive LCD projector for complex structured-light pattern. The camera has an optical filter to remove illumination noise and improve the performance of the distance measurement. Experimental results show the 3D data acquisition performance of the scanner with less than 0.2mm measurement error in 2 minutes. It is possible to reconstruct a 3D shape of an object and to reproduce the object by a commercially available 3D printer.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.5 no.9
• /
• pp.1632-1652
• /
• 2011

This paper considers the object tracking problem in three dimensional (3-D) space when the azimuth and elevation of the object are available from the passive acoustic sensor. The particle filtering technique can be directly applied to estimate the 3-D object location, but we propose to decompose the 3-D particle filter into the three planes' particle filters, which are individually designed for the 2-D bearings-only tracking problems. 2-D bearing information is derived from the azimuth and elevation of the object to be used for the 2-D particle filter. Two estimates of three planes' particle filters are selected based on the characterization of the acoustic sensor operation in a noisy environment. The Cramer-Rao Lower Bound of the proposed 2-D particle filter-based algorithm is derived and compared against the algorithm that is based on the direct 3-D particle filter.

• Journal of the Korean Institute of Telematics and Electronics C
• /
• v.35C no.1
• /
• pp.55-63
• /
• 1998

This paper presents a new maching algorithm by Hopfield Neural Network for 3-D object recognition. In the proposed method, a model object is represented by a set of polygons in a single coordinate. And each polygon is described by a set of features; feature attributes. In case of 3-D object recognition, the scale and poses of the object are important factors. So we propose a strategy for 3-D object recognition independently to its scale and poses. In this strategy, the respective features of the input or the model objects are changed to the startegical constants when they are compared with one another. Finally, we show that the proposed method has a robustness through the results of experiments which included the classification of the input objects and the matching sequence to its 3-D rotation and scale.

• Journal of the Optical Society of Korea
• /
• v.15 no.3
• /
• pp.264-271
• /
• 2011

In this paper we examine and compare the computational speeds of three-dimensional (3D) object recognition by use of digital holography based on central unit processing (CPU) and graphic processing unit (GPU) computing. The holographic fringe pattern of a 3D object is obtained using an in-line interferometry setup. The Fourier matched filters are applied to the complex image reconstructed from the holographic fringe pattern using a GPU chip for real-time 3D object recognition. It is shown that the computational speed of the 3D object recognition using GPU computing is significantly faster than that of the CPU computing. To the best of our knowledge, this is the first report on comparisons of the calculation time of the 3D object recognition based on the digital holography with CPU vs GPU computing.

• Journal of the Optical Society of Korea
• /
• v.11 no.3
• /
• pp.108-112
• /
• 2007

Spectroscopic ellipsometry (SE) has become an important tool in scatterometry based nano-structure 3D profiling. In this paper, we propose a novel 3D nano object recognition method by use of phase sensitive scatterometry. We claims that only phase sensitive scatterometry can provide a reasonable 3D nano-object recognition capability since phase data gives much higher sensitive 3D information than amplitude data. To show the validity of this approach, first we generate various $0^{th}$ order SE spectrum data ($\psi$ and ${\Delta}$) which can be calculated through rigorous coupled-wave analysis (RCWA) algorithm and then we calculate correlation values between a reference spectrum and an object spectrum which is varied for several different object 3D shape.

• The Journal of Korea Robotics Society
• /
• v.12 no.1
• /
• pp.33-41
• /
• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.23 no.3
• /
• pp.325-330
• /
• 2010

In the fields of design within civil engineering, BIM based Utilization of 3D object model is still far from commercialization. In this paper, BIM based 3D object model is composed for PSC box girder, super structure of railway bridge. The basic unit of the model is part model. The part model is the minimum unit model. And it has hierarchy to reflect the characteristics of structures. Change orders of structural designer must be reflected quickly in the 3D object model. Repetitive change orders are occurred in actual construction process. To prepare that, we classified design variables to parameters. Change orders of structural designer can be reflected quickly in the 3D object model because those parameters are related with information of 3D object model. In this paper, we studied various benefits of BIM based design method with 3D object model in the fields of design within civil engineering, and proposed the efficient application method of 3D object model for PSC box girder.

• 한국HCI학회:학술대회논문집
• /
• 2007.02a
• /
• pp.963-968
• /
• 2007

In this paper introduce Standard 3D object(Bounding-Volume). In 3D game very efficient control algorithm Using collision detection which controls the convenient of a game based on Standard 3D object specially collision-detection. This algorithm is designed LOD(Level-of-Detail) using Dynamic-Hierarchies of collision detection efficiency improvement in 3D object.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.6 no.4
• /
• pp.632-638
• /
• 2002

Extensible 3D(X3D) is a software standard for defining interactive web and broadcast-based 3D content integrated with multimedia. The data size of Web3D representation based on polygon meshes is so large that transferring practical data fast is a hard problem. This paper proposes 3D object structure, a new framework for compact 3D representation with high quality surface shape. By utilizing a free form surface technique, qualified surface are transferred with limited amount of data size and rendered. 3D graphic structure can be regarded ad both polygon meshes and free form surfaces. Therefore, it can be easily integrated to existing Web3D data formats, for example VRML ＆ XML. 3D object structure also enables modeling free form surface shapes intuitively with polygon modeling like operations.