• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.160-161
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• 2019

3차원 객체를 모델링 하기 위한 방법으로 3D 스캐너를 이용하는 방법과 모션캡처 시스템을 이용하는 방법 그리고 키넥트(Kinect) 시스템을 이용하는 방법 등이 있다. 이러한 방법을 통해 3차원 객체를 생성하는 과정에서 가려짐에 의해 촬영되지 않는 부분이 발생한다. 완벽한 3차원 객체를 구현하기 위해서는 가려진 부분을 임의로 채워줘야 하는 상황이 발생한다. 다양한 영상처리 방법을 통해 가져져 촬영되지 않은 부분을 메우는 기법이 존재한다. 본 연구에서는 보다 자연스러운 hole filling을 위한 방법으로 비지도기계학습의 최신 트렌드인 GANs를 이용한 방법을 제안한다.

• 한국정밀공학회지
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• 제23권11호
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1080-1087
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• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.231-233
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• 2007

In this paper we present a new visual approach for the robust bin-picking in a two-step concept for a vision driven automatic handling robot. The technology described here is based on two types of sensors: 3D laser scanner and CCD video camera. The geometry and pose(position and orientation) information of bin contents was reconstructed from the camera and laser sensor. these information can be employed to guide the robotic arm. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed bin-picking demonstrate the successful operation with 3D hole object.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.219-222
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• 2002

In this paper, 3D image display system is constructed under PC environment and programed based on modular programming by using visual C)1. The hole procedures are composed of data preparation, 3D display over transformation and scaling.

• Journal of Electrical Engineering and Technology
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• 제9권3호
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• pp.1023-1033
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• 2014

In this paper, performance improved hole-filling algorithm which includes the boundary noise removing pre-process that can be used for an arbitrary virtual view synthesis has been proposed. Boundary noise occurs due to the boundary mismatch between depth and texture images during the 3D warping process and it usually causes unusual defects in a generated virtual view. Common-hole is impossible to recover by using only a given original view as a reference and most of the conventional algorithms generate unnatural views that include constrained parts of the texture. To remove the boundary noise, we first find occlusion regions and expand these regions to the common-hole region in the synthesized view. Then, we fill the common-hole using the spiral weighted average algorithm and the gradient searching algorithm. The spiral weighted average algorithm keeps the boundary of each object well by using depth information and the gradient searching algorithm preserves the details. We tried to combine strong points of both the spiral weighted average algorithm and the gradient searching algorithm. We also tried to reduce the flickering defect that exists around the filled common-hole region by using a probability mask. The experimental results show that the proposed algorithm performs much better than the conventional algorithms.

• 전기학회논문지
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• 제56권5호
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• pp.973-979
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• 2007

A laser vision system is developed to measure the three-dimensional feature of an object. This system consists of two low cost cameras and a cross laser. One camera and a cross laser are used to measure a plane equation of an object. Using this information, the other camera measures a hole size of an object. The proposed system provides 0.05 mm accuracy measurement systems with relatively low cost.

• Journal of Electrical Engineering and Technology
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• 제11권4호
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• pp.1003-1011
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• 2016

In this paper, a new algorithm by using 3D warping technique to effectively fill holes that are produced when creating a virtual-viewpoint image is proposed. A hole is defined as the region that cannot be seen in the reference view when a virtual view is created. In the proposed algorithm, to reduce the blurring effect that occurs on the hole region filled by conventional algorithms and to enhance the texture quality of the generated virtual view, Exemplar Based In-painting algorithm is used. The boundary noise which occurs in the initial virtual view obtained by 3D warping is also removed. After 3D warping, we estimate the relative location of the background to the holes and then pixels adjacent to the background are filled in priority to get better result by not using only adjacent object's information. Also, the temporal inconsistency between frames can be reduced by expanding the search region up to the previous frame when searching for most similar patch. The superiority of the proposed algorithm compared to the existing algorithms can be shown through the experimental results.

• 한국통신학회논문지
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• 제36권9C호
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• pp.555-563
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• 2011

본 논문에서는 움직임 추정 (motion estimation, ME), 컬러 라벨링(labeling) 그리고 Non-local mean 필터를 이용하여 2D 영상을 3D 업체 영상으로 변환하는 기법을 제안한다. 제안하는 기법에서는 먼저 프레임 간의 움직임을 추정하여 객체의 움직임 벡터를 추출하고 주어진 영상에 대해 컬러 라벨링 작업을 수행하여 영상을 분리한다. 움직임 추정 결과와 컬러 라벨링 결과를 비교 분석하여 영상내의 객체를 추출하고 추출된 객체를 이동하여 우 영상을 생성하게 되는데 이때 우 영상을 생성하는 과정에서 채워지지 않은 가려짐 영역이 발생하며 전체 화소간의 상관도를 고려하는 Non-local mean 필터를 사용하여 보상한다. 이후 원본 영상인 좌 영상과 생성된 우 영상으로 비윌 주사하여 최종 3D 업체 영상을 재현한다. 실험 결과를 통해 제안된 기법으로 생성된 3D 업체 영상에서 객체위주의 안정된 업체 변환이 수행되는 것을 확인할 수 있었다.

• 스마트미디어저널
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• 제1권3호
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• pp.36-42
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• 2012

요즘 스마트폰과 스마트 TV와 같은 스마트 기기에 대한 관심이 높아짐에 따라 보다 다양한 기능을 포함하는 영상장치가 주목받고 있다. 특히, 스마트 TV는 3차원 영상을 서비스함에 따라 보다 고화질의 3차원 영상을 효율적으로 부호화하는 것이 중요하다. 최근 MPEG(moving picture experts group) 그룹에서는 다시점 영상과 깊이 영상을 동시에 압축하여 부호화하는 표준화 작업이 진행되고 있다. 제한된 수의 시점을 이용하여 편안한 3차원 입체 영상을 재현하기 위해서는, 충분한 수의 중간시점의 영상을 생성해야 한다. 깊이정보를 이용하여 3차원 워핑을 수행하면 가상시점의 영상을 합성할 수 있는데, 깊이값의 정확도에 따라 화질이 달라진다. 스테레오 정합 기술을 이용하여 깊이맵을 획득할 때 객체의 경계와 같은 깊이값 불연속 영역에서 깊이값 오류가 발생할 수 있다. 이러한 오류는 생성한 중간영상의 배경에 원치 않는 잡음을 생성한다. 본 논문에서는 편안한 3차원 비디오 재현을 위하여 깊이맵을 기반으로 중간시점의 영상을 생성할 때 발생하는 경계 잡음을 제거하는 방법을 제안한다. 중간시점의 영상을 합성할 때 비폐색 영역을 합성한 후 경계 잡음이 발생할 수 있는 영역을 구별한 다음, 잡음이 없는 참조영상으로 대체함으로써 경계 잡음을 제거할 수 있다. 실험 결과를 통해 배경 잡음이 사라진 자연스러운 합성영상을 생성했다.