• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.4
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• pp.207-213
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• 2018

This paper investigates applicability of Microsoft $Kinect^{(R)}$, RGB-depth camera, to implement a 3D image and spatial information for sensing a target. The relationship between the image of the Kinect camera and the pixel coordinate system is formulated. The calibration of the camera provides the depth and RGB information of the target. The intrinsic parameters are calculated through a checker board experiment and focal length, principal point, and distortion coefficient are obtained. The extrinsic parameters regarding the relationship between the two Kinect cameras consist of rotational matrix and translational vector. The spatial images of 2D projection space are converted to a 3D images, resulting on spatial information on the basis of the depth and RGB information. The measurement is verified through comparison with the length and location of the 2D images of the target structure.

• Korean Journal of Agricultural Science
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• v.49 no.3
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• pp.483-493
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• 2022

It is important to improve the efficiency of plant breeding and crop yield to fulfill increasing food demands. In plant phenotyping studies, the capability to correlate morphological traits such as plant height, stem diameter, leaf length, leaf width, leaf angle and size of panicle of the plants has an important role. However, manual phenotyping of plants is prone to human errors and is labor intensive and time-consuming. Hence, it is important to develop techniques that measure plant phenotypic traits accurately and rapidly. The aim of this study was to determine the feasibility of point cloud data based on a 3D light detection and ranging (LiDAR) system for plant phenotyping. The obtained results were then verified through manually acquired data from the sorghum samples. This study measured the plant height, plant crown diameter and the panicle height and diameter. The R² of each trait was 0.83, 0.94, 0.90, and 0.90, and the root mean square error (RMSE) was 6.8 cm, 1.82 cm, 5.7 mm, and 7.8 mm, respectively. The results showed good correlation between the point cloud data and manually acquired data for plant phenotyping. The results indicate that the 3D LiDAR system has potential to measure the phenotypes of sorghum in a rapid and accurate way.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.969-970
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• 2008

• International journal of advanced smart convergence
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• v.10 no.2
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• pp.108-122
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• 2021

With the development of 3D graphics software and the speed of computer hardware, it is an era that can be realistically expressed not only in movie visual effects but also in console games. In the production of such realistic 3D models, 3D scans are increasingly used because they can obtain hyper-realistic results with relatively little effort. Among the various 3D scanning methods, photogrammetry can be used only with a camera. Therefore, no additional hardware is required, so its demand is rapidly increasing. Most 3D artists shoot as many images as possible with a video camera, etc., and then calculate using all of those images. Therefore, the photogrammetry method is recognized as a task that requires a lot of memory and long hardware operation. However, research on how to obtain precise results with 3D photogrammetry scans is insufficient, and a large number of photos is being utilized, which leads to increased production time and data capacity and decreased productivity. In this study, point cloud data generated according to changes in the number and resolution of photographic images were produced, and an experiment was conducted to compare them with original data. Then, the precision was measured using the average distance value and standard deviation of each vertex of the point cloud. By comparing and analyzing the difference in the precision of the 3D photogrammetry scans according to the number and resolution of images, this paper presents a direction for obtaining the most precise and effective results to 3D artists.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.692-698
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• 2016

Recently, the facility extension construction and maintenance market portion has increased instead of decreased the newly facility construction. In this context, it is important to examine the reverse engineering of MEP (Mechanical Electrical and Plumbing) facilities, which have the high operation and management cost in the architecture domains. The purpose of this study was to suggest the Large Point Cloud-based Pipe Shape Reverse Engineering Method. To conduct the study, the related researches were surveyed and the reverse engineering automation method of the pipe shapes considering large point cloud was proposed. Based on the method, the prototype was developed and the results were validated. The proposed method is suitable for large data processing considering the validation results because the rendering performance standard deviation related to the 3D point cloud massive data searching was 0.004 seconds.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1115-1121
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• 2012

This paper proposes a method to extract accurate plane of an object in unstructured environment for a humanoid robot by using a laser scanner. By panning and tilting 2D laser scanner installed on the head of a humanoid robot, 3D depth map of unstructured environment is generated. After generating the 3D depth map around a robot, the proposed plane extraction method is applied to the 3D depth map. By using the hierarchical clustering method, points on the same plane are extracted from the point cloud in the 3D depth map. After segmenting the plane from the point cloud, dimensions of the planes are calculated. The accuracy of the extracted plane is evaluated with experimental results, which show the effectiveness of the proposed method to extract planes around a humanoid robot in unstructured environment.

• Korean Journal of Remote Sensing
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• v.34 no.6_1
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• pp.941-951
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• 2018

Utilization and demand of UAV (unmanned aerial vehicle) for the generation of 3D city model are increasing. In this study, we performed an experiment to adjustment position/orientation of UAV with incomplete attitude information and to extract point cloud data. In order to correct the attitude of the UAV, the rotation angle was calculated by using the continuous position information of UAV movements. Based on this, the corrected position/orientation information was obtained by applying IBA (Incremental Bundle Adjustment) based on photogrammetry. Each pair was transformed into an epipolar image, and the MDR (Multi-Dimensional Relaxation) technique was applied to obtain high precision DSM. Each extracted pair is aggregated and output in the form of a single point cloud or DSM. Using the DJI inspire1 and Phantom4 images, we can confirm that the point cloud can be extracted which expresses the railing of the building clearly. In the future, research will be conducted on improving the matching performance and establishing sensor models of oblique images. After that, we will continue the image processing technology for the generation of the 3D city model through the study of the extraction of 3D cloud It should be developed.

• Journal of Ocean Engineering and Technology
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• v.32 no.3
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• pp.158-165
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• 2018

Generally, container ships contain cargo holds with cell guides that serve to increase the container loading and unloading efficiency, minimize the space loss, and fix containers during the voyage. This paper describes a new quality management system for the cell guides of container ships (the so-called Trim Cell Guide system). The main functions of this system are the trimming of the point cloud obtained using a 3D scanner and an inspection simulation for cell guide quality. In other words, the raw point cloud of cell guides after construction is measured using a 3D scanner. Here, the raw point cloud contains a lot of noise and unnecessary information. Using the GUI interface supported by the system, the raw point cloud can be trimmed. The trimmed point cloud is used in a simulation for cell guide quality inspection. The RANSAC (Random Sample Consensus) algorithm is used for the transverse section representation of a cell guide at a certain height and applied for the calculation of the intervals between the cell guides and container. When the container hits the cell guides during the inspection simulation, the container is rotated horizontally and checked again for a possible collision. It focuses on a system that can be simulated with the same inspection process as in a shipyard. For a practicality review, we compared the precision data gained from an inspection simulation with the measured data. As a result, it was confirmed that these values were within approximately ${\pm}2mm$.

• IEIE Transactions on Smart Processing and Computing
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• v.3 no.2
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• pp.59-64
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• 2014

This paper presents a method for estimating the bounding volume for image-based 3D object reconstruction. The bounding volume of an object is a three-dimensional space where the object is expected to exist, and the size of the bounding volume strongly affects the resolution of the reconstructed geometry. Therefore, the size of a bounding volume should be as small as possible while it encloses an actual object. To this end, the proposed method uses a set of silhouettes of an object and generates a point cloud using a point filter. A bounding volume is then determined as the minimum sphere that encloses the point cloud. The experimental results show that the proposed method generates a bounding volume that encloses an actual object as small as possible.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.1
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• pp.1-10
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• 2012

Recent spatial information technology has brought innovative improvement in both efficiency and accuracy. Especially, airborne LiDAR system(ALS) is one of the practical sensors to obtain 3D spatial information. Constructing reliable 3D spatial data infrastructure is world wide issue and most of the significant tasks involved with modeling manmade objects. This study aims to create a test data set for developing automatic building modeling methods by simulating point cloud data. The data simulates various roof types including gable, pyramid, dome, and combined polyhedron shapes. In this study, a robust bottom-up method to segment surface patches was proposed for generating building models automatically by determining model key points of the objects. The results show that building roofs composed of the segmented patches could be modeled by appropriate mathematical functions and the model key points. Thus, 3D digitizing man made objects could be automated for digital mapping purpose.