• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.300-309
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• 2016

This paper proposes a method for motion estimation of consecutive cameras using 3-D straight lines. The motion estimation algorithm uses two non-parallel 3-D line correspondences to quickly establish an initial guess for the relative pose of adjacent frames, which requires less correspondences than that of current approaches requiring three correspondences when using 3-D points or 3-D planes. The estimated motion is further refined by a nonlinear optimization technique with inlier correspondences for higher accuracy. Since there is no dominant line representation in 3-D space, we simulate two line representations, which can be thought as mainly adopted methods in the field, and verify one as the best choice from the simulation results. We also propose a simple but effective 3-D line fitting algorithm considering the fact that the variance arises in the projective directions thus can be reduced to 2-D fitting problem. We provide experimental results of the proposed motion estimation system comparing with state-of-the-art algorithms using an open benchmark dataset.

• Journal of Sensor Science and Technology
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• v.5 no.4
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• pp.57-70
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• 1996

Motion can be estimated continuously from each sensor through the analysis of the instantaneous states of an object. This paper is aimed to introduce a method to estimate the general 3D motion of a planar object from the instantaneous states of an object using multi-sensor data fusion. The instantaneous states of an object is estimated using the linear feedback estimation algorithm. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown planar object. We present a fusion algorithm which combines averaging and deciding. With the assumption that the motion is smooth, the approach can handle the data sequences from multiple sensors with different sampling times. Simulation results show proposed algorithm is advantageous in terms of accuracy, speed, and versatility.

• Journal of Korea Multimedia Society
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• v.20 no.12
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• pp.1865-1873
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• 2017

The feature-based visual SLAM requires 3D positions for the extracted feature points to perform 3D-2D motion estimation. LiDAR can provide reliable and accurate 3D position information with low computational burden, while stereo camera has the problem of the impossibility of stereo matching in simple texture image region, the inaccuracy in depth value due to error contained in intrinsic and extrinsic camera parameter, and the limited number of depth value restricted by permissible stereo disparity. However, the sparsity of LiDAR data may increase the inaccuracy of motion estimation and can even lead to the result of motion estimation failure. Therefore, in this paper, we propose three interpolation methods which can be applied to interpolate sparse LiDAR data. Simulation results obtained by applying these three methods to a visual odometry algorithm demonstrates that the selective bilinear interpolation shows better performance in the view point of computation speed and accuracy.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.1
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• pp.242-259
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• 2015

Three-dimensional video coding is one of the main challenges restricting the widespread applications of 3D video and free viewpoint video. In this paper, a novel fractal coding algorithm with motion-vector-field-based motion estimation for depth map sequence is proposed. We firstly add pre-search restriction to rule the improper domain blocks out of the matching search process so that the number of blocks involved in the search process can be restricted to a smaller size. Some improvements for motion estimation including initial search point prediction, threshold transition condition and early termination condition are made based on the feature of fractal coding. The motion-vector-field-based adaptive hexagon search algorithm on the basis of center-biased distribution characteristics of depth motion vector is proposed to accelerate the search. Experimental results show that the proposed algorithm can reach optimum levels of quality and save the coding time. The PSNR of synthesized view is increased by 0.56 dB with 36.97% bit rate decrease on average compared with H.264 Full Search. And the depth encoding time is saved by up to 66.47%. Moreover, the proposed fractal depth map sequence codec outperforms the recent alternative codecs by improving the H.264/AVC, especially in much bitrate saving and encoding time reduction.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.679-684
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• 1993

This article presents an approach to estimate the general 3D motion of a polyhedral object using multiple, sensory data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. We have introduced a method based on Moore-Penrose pseudo-inverse theory to estimate the instantaneous state of an object. A linear feedback estimation algorithm is discussed to estimate the object 3D motion. Then, the motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.6
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• pp.62-69
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• 2015

In this paper, a new frame rate up conversion (FRUC) algorithm using adaptive motion estimation (AME-FRUC) is proposed. The proposed algorithm performs extended bilateral motion estimation (EBME) conducts motion estimation (ME) processes on the static region, and extract region of interest with the motion vector (MV). In the region of interest block, the proposed AME-FRUC uses the texture block partitioning scheme and the unilateral motion estimation for improving ME accuracy. Finally, motion compensated frame interpolation (MCFI) are adopted to interpolate the intermediate frame in which MCFI is employed adaptively based on ME scheme. Experimental results show that the proposed algorithm improves the PSNR up to 3dB, the SSIM up to 0.07 and 68% lower SAD calculations compared to the EBME and the conventional FRUC algorithms.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.9C
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• pp.555-563
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• 2011

In this paper, we propose an object based 2D image to 3D conversion algorithm by using motion estimation, color labeling and non-local mean filtering methods. In the proposed algorithm, we first extract the motion vector of each object by estimating the motion between frames and then segment a given image frame with color labeling method. Then, combining the results of motion estimation and color labeling, we extract object regions and assign an exact depth value to each object to generate the right image. While generating the right image, occlusion regions occur but they are effectively recovered by using non-local mean filter. Through the experimental results, it is shown that the proposed algorithm performs much better than conventional conversion scheme by removing the eye fatigue effectively.

• Journal of Korea Multimedia Society
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• v.3 no.4
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• pp.372-379
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• 2000

In this paper, we propose a fast variable-size block matching algorithm for motion estimation based on bit-pattern. Motion estimation in the proposed algorithm is performed after the representation of image sequence is transformed 8bit pixel values into 1bit ones depending on the mean value of search block, which brings a short searching time by reducing the computational complexity. Moreover, adaptive searching methods according to the motion information of the block make the procedure of motion estimation efficient by eliminating an unnecessary searching of low motion block and deepening a searching procedure in high motion block. Experimental results show that the proposed algorithm provides better performance-0.5dB PSNR improvement-than full search block matching algorithm with a fixed block size.

• Journal of Broadcast Engineering
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• v.18 no.6
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• pp.808-815
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• 2013

In this paper, we propose a novel fast and low-complexity Motion Estimation (ME) algorithm for Ultra High Definition (UHD) High Efficiency Video Coding (HEVC). Motion estimation occupies 77~81% of the amount of computation in HEVC. After all, the main key of video codec implementation is to find a fast and low-complexity motion estimation algorithm and architecture. We analyze the previous motion estimation algorithms and propose three optimal algorithm to reduce the computation proportion for HEVC. The proposed algorithm uses only 0.36% of the amount of operations compared to full search algorithm while maintaining compression performance with slight loss of 1.1%.

• The KIPS Transactions:PartB
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• v.8B no.5
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• pp.549-556
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• 2001

The general problems of recovering 3D for 2D imagery require the depth information for each picture element form focus. The manual creation of those 3D models is consuming time and cost expensive. The goal in this paper is to simplify the depth estimation algorithm that extracts the depth information of every region from monocular image sequence with camera translation to implement 3D video in realtime. The paper is based on the property that the motion of every point within image which taken from camera translation depends on the depth information. Full-search motion estimation based on block matching algorithm is exploited at first step and ten, motion vectors are compensated for the effect by camera rotation and zooming. We have introduced the algorithm that estimates motion of object by analysis of monocular motion picture and also calculates the averages of frame depth and relative depth of region to the average depth. Simulation results show that the depth of region belongs to a near object or a distant object is in accord with relative depth that human visual system recognizes.