• 대한인간공학회지
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• 제19권1호
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• pp.77-90
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• 2000

The aim of this study is to develop and evaluate an efficient camera calibration method for vision-based head tracking. Tracking head movements is important in the design of an eye-controlled human/computer interface. A vision-based head tracking system was proposed to allow the user's head movements in the design of the eye-controlled human/computer interface. We proposed an efficient camera calibration method to track the 3D position and orientation of the user's head accurately. We also evaluated the performance of the proposed method. The experimental error analysis results showed that the proposed method can provide more accurate and stable pose (i.e. position and orientation) of the camera than the conventional direct linear transformation method which has been used in camera calibration. The results of this study can be applied to the tracking head movements related to the eye-controlled human/computer interface and the virtual reality technology.

• 대한인간공학회지
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• 제16권3호
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• pp.1-10
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• 1997

This paper is concerned with the development and evaluation of the camera calibration method for a real-time head tracking system. Tracking of head movements is important in the design of an eye-controlled human/computer interface and the area of virtual environment. We proposed a video-based head tracking system. A camera was mounted on the subject's head and it took the front view containing eight 3-dimensional reference points(passive retr0-reflecting markers) fixed at the known position(computer monitor). The reference points were captured by image processing board. These points were used to calculate the position (3-dimensional) and orientation of the camera. A suitable camera calibration method for providing accurate extrinsic camera parameters was proposed. The method has three steps. In the first step, the image center was calibrated using the method of varying focal length. In the second step, the focal length and the scale factor were calibrated from the Direct Linear Transformation (DLT) matrix obtained from the known position and orientation of the camera. In the third step, the position and orientation of the camera was calculated from the DLT matrix, using the calibrated intrinsic camera parameters. Experimental results showed that the average error of camera positions (3- dimensional) is about $0.53^{\circ}C$, the angular errors of camera orientations are less than $0.55^{\circ}C$and the data aquisition rate is about 10Hz. The results of this study can be applied to the tracking of head movements related to the eye-controlled human/computer interface and the virtual environment.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제7권7호
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• pp.267-274
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• 2018

본 논문에서는 PTZ 카메라를 이용한 머리자세추정 방법에 대하여 서술한다. 회전 또는 이동에 의하여 카메라의 외부인자가 변경되면, 추정된 얼굴자세도 변한다. 본 논문에는 PTZ 카메라의 회전과 위치 변화에 독립적으로 머리자세를 추정하는 새로운 방법을 제안한다. 제안하는 방법은 얼굴검출, 특징추출 그리고 자세추정으로 이루어진다. 얼굴검출은 MCT특징을 이용해 검출하고, 얼굴 특징추출은 회귀트리 방법을 이용해 추출하고, 머리자세 추정은 POSIT 알고리즘을 사용한다. 기존의 POSIT 알고리즘은 카메라의 회전을 고려하지 않지만, 카메라의 외부인자 변화에도 강건하게 머리자세를 추정하기 위하여 본 논문은 원근투영법에 기반하여 POSIT를 개선한다. 실험을 통하여 본 논문에서 제안하는 방법이 기존의 방법 보다 RMSE가 약 $0.6^{\circ}$ 개선되는 것을 확인했다.

• 전기학회논문지
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• 제67권6호
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• pp.782-788
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• 2018

This paper proposes a novel method for the omnidirectional camera-based image rendering synchronization system using head mounted display. There are two main processes in the proposed system. The first one is rendering 360-degree images which are remotely photographed to head mounted display. This method is based on transmission control protocol/internet protocol(TCP/IP), and the sequential images are rapidly captured and transmitted to the server using TCP/IP protocol with the byte array data format. Then, the server collects the byte array data, and make them into images. Finally, the observer can see them while wearing head mounted display. The second process is displaying the specific region by detecting the user's head rotation. After extracting the user's head Euler angles from head mounted display's inertial measurement units sensor, the proposed system display the region based on these angles. In the experimental results, rendering the original image at the same resolution in a given network environment causes loss of frame rate, and rendering at the same frame rate results in loss of resolution. Therefore, it is necessary to select optimal parameters considering environmental requirements.

• 전자공학회논문지CI
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• 제49권3호
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• pp.27-33
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• 2012

텔레프레즌스(tele-presence)와 원격조정(tele-operation) 기술은 멀리 떨어진 사용자에게 몰입감이 높은(immersive) 장면이나 모바일 로봇 등의 제어 환경을 제공한다. 본 논문에서는 호모그래피(homography) 정보 기반의 카메라 추적기술을 이용한 텔레프레즌스 시스템이 제안된다. 먼저 카메라가 탑재된 HMD(head mounted display)를 착용한 사용자의 머리 움직임을 카메라 추적기술로 분석한다. 그리고 전방향(omni-directional) 카메라를 장착한 로봇으로부터 입력되는 파노라마 영상에서 사용자의 시야(field of view)에 해당하는 장면을 생성하여 HMD를 통해 디스플레이한다. 사용자의 움직임을 추정하는 과정에서 3차원 평면으로 구성된 공간의 호모그래피 정보를 이용하며, 실제로 측정된 3차원 데이터를 기준으로 마커기반의 ARToolkit을 이용하는 방법과 호모그래피 기반 방법의 정확도를 각각 비교하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.283-284
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• 2007

This paper proposes a method of real-time segmentation of moving region and detection of head position in a single omnidrectional camera Segmentation of moving region used background modeling method by a mixture of Gaussian(MOG) and shadow detection method. Circular constraint was proposed for detecting head position.

• 한국정보전자통신기술학회논문지
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• 제11권6호
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• pp.793-799
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• 2018

CCD카메라는 방사선에 쉽게 열화되어 고방사선구역에서는 촬상관을 이용한 일체화된 카메라가 사용되고 있다. 이를 방사선에 강한 전자부품을 사용한 카메라헤드부와 방사선에 약한 TR, IC등을 사용한 원격제어부로 분리제작한 내 방사선 카메라시스템을 구현하였다. 실험결과 전자부품 중 가장 먼저 손상된 것은 수평 및 수직 동기 발생 IC이었으며 $2{\times}10^5{\sim}10^6rad$의 방사선이 누적되면 정상적인 기능이 상실됨을 확인하였다. 또한 원격화를 위한 신호전송 케이블은 입출력 버퍼회로를 부가하고 쉴드와 케이블의 폐루프면적을 감소시켜 신호 손실보정 및 노이즈를 제거하였다. 따라서 전체의 시스템을 교체하는 것이 아니라 카메라 헤드부분만을 교체하여 사용할 수 있으므로 실용적이며 관리 유지비용이 많이 절감 될 것으로 기대된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.33-35
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• 2005

We propose an eye gaze tracking system under natural head movements. The system consists of one CCD camera and two front-surface mirrors. The mirrors rotate to follow head movements in order to keep the eye within the view of the camera. However, the mirror controller cannot guarantee the fast head movements, because the frame rate is generally 30Hz. To overcome this problem, we applied Kalman predictor to estimate next eye position from the current eye image. In the results, our system allows the subjects head to move 50cm horizontally and 40cm vertically, with the speed about 10cm/sec and 6cm/sec, respectively. And spatial gaze resolutions are about 4.5 degree and 4.5 degree, respectively, and the gaze estimation accuracy is 92% under natural head movements.

• 전기학회논문지
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• 제64권7호
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• pp.1056-1063
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• 2015

In this paper, we develop an interface for aerial photograph platform which consists of a quadrotor and a gimbal using the human body and the head posture. As quadrotors have been widely adopted in many industries such as aerial photography, remote surveillance, and maintenance of infrastructures, the demand of aerial video and photograph has been increasing remarkably. Stick type remote controllers are widely used to control a quadrotor, but this method is not an intuitive way of controlling the aerial vehicle and the camera simultaneously. Therefore, a new interface which controls the serial photograph platform is presented. The presented interface uses the human head movement measured by head-mounted display as a reference for controlling the camera angle, and the human body posture measured from Kinect for controlling the attitude of the quadrotor. As the image captured by the camera is displayed on the head-mounted display simultaneously, the user can feel flying experience and intuitively control the quadrotor and the camera. Finally, the performance of the developed system shown to verify the effectiveness and superiority of the presented interface.

• Journal of International Society for Simulation Surgery
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• 제2권1호
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• pp.13-16
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• 2015

Purpose We conducted a study on the reconstruction of the head's shape in 3D using the ToF depth sensor. A time-of-flight camera (ToF camera) is a range imaging camera system that resolves distance based on the known speed of light, measuring the time-of-flight of a light signal between the camera and the subject for each point of the image. The above method is the safest way of measuring the head shape of plagiocephaly patients in 3D. The texture, appearance and size of the head were reconstructed from the measured data and we used the SDF method for a precise reconstruction. Materials and Methods To generate a precise model, mesh was generated by using Marching cube and SDF. Results The ground truth was determined by measuring 10 people of experiment participants for 3 times repetitively and the created 3D model of the same part from this experiment was measured as well. Measurement of actual head circumference and the reconstructed model were made according to the layer 3 standard and measurement errors were also calculated. As a result, we were able to gain exact results with an average error of 0.9 cm, standard deviation of 0.9, min: 0.2 and max: 1.4. Conclusion The suggested method was able to complete the 3D model by minimizing errors. This model is very effective in terms of quantitative and objective evaluation. However, measurement range somewhat lacks 3D information for the manufacture of protective helmets, as measurements were made according to the layer 3 standard. As a result, measurement range will need to be widened to facilitate production of more precise and perfectively protective helmets by conducting scans on all head circumferences in the future.