• 로봇학회논문지
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• 제10권1호
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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.

• 한국의류학회지
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• 제28권2호
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• pp.344-353
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• 2004

The purpose of this study was to offer the basis contributes to extract the standardized body data from 3D body measuring for women aged 60 and older. The WB4 of Cyberware was used, and the measuring program of 3D scanning data was 3DM. This study was focused to verify the reliability of 3D data and to offer the effective utilization of 3D measuring on the research for elderly women■s body. Subjects were 19 women aged 60 and older. And three women in late twenties and three dressforms for women were comparing subjects to analyze the signiscant difference by age or human body variable making error. First, 3D scanning was executed twice on each subject, but any significant difference was not appear between two scanning data. So we certifed we could get the consistent and reliable data from the 3D scanner used in this study. Second, the reliability of 3D measuring data was analyzed, and the error range which meant the difference between 3D data and traditional measuring data was analyzed. In elderly women, the significant difference between two data was appeared in 19 body parts. The 7 of 19 were concerned with armpit point. In young women, three significant difference were appeared, and in dressforms, any significant difference was not certified. From these results, we could certify that age or human body variable produced the difference between two data. Third, the data of elderly women from three measuring methods, 3D measuring, traditional measuring, and measuring on 2D photographs were compared. From the result, we found that the 3D measuring data was quite reliable for most body parts excluding some width parts. But in elderly women, there were some limitation to extract reliable data because of their unique body characteristics. In order to be a role of the effective measuring method, the 3D measuring protocol reflected the body characteristics of each age or gender had to be prepared.

• 대한전자공학회논문지SD
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• 제43권2호
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• pp.24-33
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• 2006

본 논문에서는 휴대용 정보기기 시스템에서 더욱 향상된 실시간 3D 그래픽 가속 능력을 갖는 SoC 구현을 위해 효과적인 3D 그래픽 Geometry 처리 IP 구조를 연구하였다. 이를 기반으로 3D 그래픽 Geometry 처리 과정에 필요한 부동소수점 연산기를 설계하였으며, 내장형 3D 그래픽 국제 표준인 OpenGL-ES를 지원하는 부동소수점 Geometry 프로세서를 설계하였다. 설계된 Geometry 프로세서는 Xilinx-Vertex2 FPGA에서 160k gate의 면적으로 구현되었으며, 80 MHz의 동작주파수 환경에서 실제 3D 그래픽 데이터를 이용하여 Geometry 처리 과정의 성능 측정 실험을 하였다. 실험 결과 80 MHz의 동작주파수에서 초당 1.5M 개의 폴리곤 처리 성능이 확인되었으며, 이는 타 3D 그래픽 가속 프로세서에 비하여 평균 2배 이상의 Geometry 처리 성능이다. 본 지오메트리 프로세서는 Hynix 0.25um CMOS 공정에 의한 측정결과 83.6mW의 소모전력을 나타낸다.

• 대한치과의사협회지
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• 제56권9호
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• pp.479-490
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• 2018

3D printing technology supporting the specific patient medical services is actively being implemented in dentistry. The purpose of this study is to introduce the legal and institutional considerations to the medical practitioners in dentistry who must observe when they manufacture medical devices using 3D printers, and to provide a ways to activate and enhance their utilization in the domestic approval point of view for medical devices. Through the public data of government agencies and related organizations, the statutory system and compliance matters related to the manufacture of 3D printing medical devices have been examined and reviewed for the government's improvement efforts. Through the study, the government has been actively improving the system and making policy, but the active interest and participation of medical professionals and related workers are continually required to solve the problems which are scattered. 3D printing technology is expected to be more frequently utilized in the field of dentistry in near future. Therefore, it is essential to establish measures to improve the regulation through continuous cooperation with the related ministries with the long-term point of view enhancing smooth entry to the market for the medical devices by taking data from the continued research.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.854-861
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• 2005

Studied accuracy and practical use possibility of joint measurement that using 3D laser scanner to rock slope. Measured joint of Rock slope and comparison applied 3 dimension laser scanner and clinometer. 3D laser scanning system preserves on computer calculating to 3 dimension coordinate scaning laser to object. and according to laser measurement method of interior, produce correct vector value from charge-coupled device(CCD) or laser reciver and telegram register and time measuring equipment. Create of object x, y, z point coordinates to 3 dimension space of computer. Such 3 dimension point datum (Point Clouds) forms relocate position informations that exist to practical space to computer space. Practical numerical values related between each other. Compared joint distribution and direction that measured by laser scanner and clinometer. By the result, Distribution of joint projected almost equally. Could get more joint datas by measurement of 3 dimension scanner than measured by clinometer. Therefore, There is effect that objectification of rock slope investigation data, shortening of investigation periods, investigation reduction of cost. could know that it is very effective method in joint measuring.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.307-310
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• 2000

The measuring method of large object using the pattern matching is discussed in the paper. It is hard and expensive to get the complete 3D data when the object is large or exceeds the limit of measuring devices. The large object is divided into several smaller areas and is scanned several times to get the data of all the pieces. These data are aligned to get the complete 3D data using the pattern matching method. The point pattern matching method and transform matrix algorithm are used for aligning. The laser slit beam and CCD camera is applied for experimental measurement. Visual C++ on Window98 is implemented in processing the algorithm.

• 한국통신학회논문지
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• 제35권12C호
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• pp.984-994
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• 2010

Pose variation is a critical problem in face recognition. Three-dimensional(3D) face recognition techniques have been proposed, as 3D data contains depth information that may allow problems of pose variation to be handled more effectively than with 2D face recognition methods. This paper proposes a pose-normalized 3D face modeling method that translates and rotates any pose angle to a frontal pose using a plane fitting method by Singular Value Decomposition(SVD). First, we reconstruct 3D face data with stereo vision method. Second, nose peak point is estimated by depth information and then the angle of pose is estimated by a facial plane fitting algorithm using four facial features. Next, using the estimated pose angle, the 3D face is translated and rotated to a frontal pose. To demonstrate the effectiveness of the proposed method, we designed 2D and 3D face recognition experiments. The experimental results show that the performance of the normalized 3D face recognition method is superior to that of an un-normalized 3D face recognition method for overcoming the problems of pose variation.

• 한국측량학회지
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• 제34권5호
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• pp.479-493
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• 2016

항공 레이저 스캐너(ALS)로부터 획득한 라이다(LiDAR) 데이터는 지형지물을 모델링하기 위해서 널리 사용되고 있으며, 특히 정밀 3차원 건축물 및 도시모델, 엄밀정사영상 등 고품질의 공간정보를 효율적으로 구축하기 위하여 라이다 데이터를 이용한 3차원 모델링에 관한 연구가 지속적으로 수행되고 있다. 불규칙적으로 분포된 고밀도의 라이다 데이터로부터 객체를 3차원으로 모델링하기 위해서는 시스템 캘리브레이션, 노이즈 제거 및 지면과 객체를 분리하기 위한 필터링, 객체의 종류 및 특성에 따른 데이터 분류, 기하학적 특성 및 동질성에 기반한 데이터 분할, 분할면의 군집화 및 묘사, 분할면의 재구성과 조합에 의한 모델링, 품질검사 등 일련의 복잡한 과정들이 수반된다. 라이다 데이터를 이용한 많은 모델링 방법들은 데이터 분할 과정을 포함하고 있지만, 본 논문에서는 라이다 데이터를 분할하지 않고 객체를 구성하는 중요하고 대표적인 특징점들을 추출하여 건물 모델링에 활용하는 방법을 제안하고 있다. 복잡하고 다양한 건물 형태를 시뮬레이션한 데이터와 실제 데이터에 적용하여 제안한 방법의 타당성 및 정확도를 검증하였다.

• 한국측량학회지
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• 제25권6_1호
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• pp.507-516
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• 2007

Segmentation and organization of the LiDAR (Light Detection and Ranging) data of the Earth's surface are difficult tasks because the captured LiDAR data are composed of irregularly distributed point clouds with lack of semantic information. The reason for this difficulty in processing LiDAR data is that the data provide huge amount of the spatial coordinates without topological and/or relational information among the points. This study introduces LiDAR data segmentation technique by utilizing histograms of the LiDAR height image data and analyzing roof shape for 3D reconstruction and visualization of the buildings. One of the advantages in utilizing LiDAR height image data is no registration required because the LiDAR data are geo-referenced and ortho-projected data. In consequence, measurements on the image provide absolute reference coordinates. The LiDAR image allows measurement of the initial building boundaries to estimate locations of the side walls and to form the planar surfaces which represent approximate building footprints. LiDAR points close to each side wall were grouped together then the least-square planar surface fitting with the segmented point clouds was performed to determine precise location of each wall of an building. Finally, roof shape analysis was performed by accumulated slopes along the profiles of the roof top. However, simulated LiDAR data were used for analyzing roof shape because buildings with various shapes of the roof do not exist in the test area. The proposed approach has been tested on the heavily built-up urban residential area. 3D digital vector map produced by digitizing complied aerial photographs was used to evaluate accuracy of the results. Experimental results show efficiency of the proposed methodology for 3D building reconstruction and large scale digital mapping especially for the urban area.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2021년도 추계학술대회
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• pp.422-424
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• 2021

In this paper, it leads the approach of fusing multiple RGB cameras for visual objects recognition based on deep learning with convolution neural network and 3D Light Detection and Ranging (LiDAR) to observe the environment and match into a 3D world in estimating the distance and position in a form of point cloud map. The goal of perception in multiple cameras are to extract the crucial static and dynamic objects around the autonomous vehicle, especially the blind spot which assists the AV to navigate according to the goal. Numerous cameras with object detection might tend slow-going the computer process in real-time. The computer vision convolution neural network algorithm to use for eradicating this problem use must suitable also to the capacity of the hardware. The localization of classified detected objects comes from the bases of a 3D point cloud environment. But first, the LiDAR point cloud data undergo parsing, and the used algorithm is based on the 3D Euclidean clustering method which gives an accurate on localizing the objects. We evaluated the method using our dataset that comes from VLP-16 and multiple cameras and the results show the completion of the method and multi-sensor fusion strategy.