• The KIPS Transactions:PartB
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• v.17B no.5
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• pp.345-354
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• 2010

Visual tracking techniques for Augmented Reality are classified as either a marker tracking approach or a natural feature tracking approach. Marker-based tracking algorithms can be efficiently implemented sufficient to work in real-time on mobile devices. On the other hand, natural feature tracking methods require a lot of computationally expensive procedures. Most previous natural feature tracking methods include heavy feature extraction and pattern matching procedures for each of the input image frame. It is difficult to implement real-time augmented reality applications including the capability of natural feature tracking on low performance devices. The required computational time cost is also in proportion to the number of patterns to be matched. To speed up the natural feature tracking process, we propose a novel fast tracking method based on optical flow. We implemented the proposed method on mobile devices to run in real-time and be appropriately used with mobile augmented reality applications. Moreover, during tracking, we keep up the total number of feature points by inserting new feature points proportional to the number of vanished feature points. Experimental results showed that the proposed method reduces the computational cost and also stabilizes the camera pose estimation results.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.10
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• pp.465-472
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• 2015

We propose a novel plane detection in disparity space and evaluate its performance. Our method simplifies and makes scenes in disparity space easily dealt with by approximating various surfaces as planes. Moreover, the approximated planes can be represented in the same size as in the real world, and can be employed for obstacle detection and camera pose estimation. Using a stereo matching technique, our method first creates a disparity image which consists of binocular disparity values at xy-coordinates in the image. Slants of disparity values are estimated by exploiting a line simplification algorithm which allows our method to reflect global changes against x or y axis. According to pairs of x and y slants, we label the disparity image. 4-connected disparities with the same label are grouped, on which least squared model estimates plane parameters. N plane models with the largest group of disparity values which satisfy their plane parameters are chosen. We quantitatively and qualitatively evaluate our plane detection. The result shows 97.9%와 86.6% of quality in our experiment respectively on cones and cylinders. Proposed method excellently extracts planes from Middlebury and KITTI dataset which are typically used for evaluation of stereo matching algorithms.