• Journal of Information Processing Systems
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• 제13권3호
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• pp.491-499
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• 2017

In this study, we proposed a new approach to segment ground and nonground points gained from a 3D laser range sensor. The primary aim of this research was to provide a fast and effective method for ground segmentation. In each frame, we divide the point cloud into small groups. All threshold points and start-ground points in each group are then analyzed. To determine threshold points we depend on three features: gradient, lost threshold points, and abnormalities in the distance between the sensor and a particular threshold point. After a threshold point is determined, a start-ground point is then identified by considering the height difference between two consecutive points. All points from a start-ground point to the next threshold point are ground points. Other points are nonground. This process is then repeated until all points are labelled.

• 한국멀티미디어학회논문지
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• 제24권11호
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• pp.1518-1525
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• 2021

Due to the growth of VR industry and rise of digital twin industry, the importance of implementing 3D data same as real space is increasing. However, the fact that it requires expertise personnel and huge amount of time is a problem. In this paper, we propose a system that generates point cloud data with same shape and color as a real space, just by scanning the space. The proposed system integrates 3D geometric information from lidar and color information from stereo camera into one point cloud. Since the number of 3D points generated by lidar is not enough to express a real space with good quality, some of the pixels of 2D image generated by camera are mapped to the correct 3D coordinate to increase the number of points. Additionally, to minimize the capacity, overlapping points are filtered out so that only one point exists in the same 3D coordinates. Finally, 6DoF pose information generated from lidar point cloud is replaced with the one generated from camera image to position the points to a more accurate place. Experimental results show that the proposed system easily and quickly generates point clouds very similar to the scanned space.

• 대한원격탐사학회지
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• 제25권3호
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• pp.287-294
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• 2009

KOMPSAT-2 like other high-resolution satellites has the time and angle difference in the acquisition of the panchromatic (PAN) and multispectral (MS) images because the imaging systems have the offset of the charge coupled device combination in the focal plane. Due to the differences, high altitude and moving objects, such as clouds, have a different position between the PAN and MS images. Therefore, a mis-registration between the PAN and MS images occurs when a registration algorithm extracted matching points from these cloud objects. To overcome this problem, we proposed a new registration method. The main idea is to discard the matching points extracted from cloud boundaries by using an automatic thresholding technique and a classification technique on a distance disparity map of the matching points. The experimental result demonstrates the accuracy of the proposed method at ground region around cloud objects is higher than a general method which does not consider cloud objects. To evaluate the proposed method, we use KOMPSAT-2 cloudy images.

• Structural Engineering and Mechanics
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• 제70권6호
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• pp.711-722
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• 2019

Considering stress singularities at point support locations, buckling solutions for plates with arbitrary number of point supports are hard to obtain. Thus, new Hp-Cloud shape functions with Kronecker delta property (HPCK) were developed in the present paper to examine elastic buckling of point-supported thin plates in various shapes. Having the Kronecker delta property, this specific Hp-Cloud shape functions were constructed through selecting particular quantities for influence radii of nodal points as well as proposing appropriate enrichment functions. Since the given quantities for influence radii of nodal points could bring about poor quality of interpolation for plates with sharp corners, the radii were increased and the method of Lagrange multiplier was used for the purpose of applying boundary conditions. To demonstrate the capability of the new Hp-Cloud shape functions in the domain of analyzing plates in different geometry shapes, various test cases were correspondingly investigated and the obtained findings were compared with those available in the related literature. Such results concerning these new Hp-Cloud shape functions revealed a significant consistency with those reported by other researchers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2010-2014
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• 2005

Object detection and parameter estimation in point cloud data is a relevant subject to robotics, reverse engineering, computer vision, and sport mechanics. In this paper a software is presented for fully-automatic object detection and parameter estimation in unordered, incomplete and error-contaminated point cloud with a large number of data points. The software consists of three algorithmic modules each for object identification, point segmentation, and model fitting. The newly developed algorithms for orthogonal distance fitting (ODF) play a fundamental role in each of the three modules. The ODF algorithms estimate the model parameters by minimizing the square sum of the shortest distances between the model feature and the measurement points. Curvature analysis of the local quadric surfaces fitted to small patches of point cloud provides the necessary seed information for automatic model selection, point segmentation, and model fitting. The performance of the software on a variety of point cloud data will be demonstrated live.

• 대한원격탐사학회지
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• 제31권1호
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• pp.1-9
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• 2015

Mobility and cloud platform have become the dominant paradigm to develop web services dealing with huge and diverse digital contents for scientific solution or engineering application. These two trends are technically combined into mobile cloud computing environment taking beneficial points from each. The intention of this study is to design and implement a mobile cloud application for remotely sensed image fusion for the further practical geo-based mobile services. In this implementation, the system architecture consists of two parts: mobile web client and cloud application server. Mobile web client is for user interface regarding image fusion application processing and image visualization and for mobile web service of data listing and browsing. Cloud application server works on OpenStack, open source cloud platform. In this part, three server instances are generated as web server instance, tiling server instance, and fusion server instance. With metadata browsing of the processing data, image fusion by Bayesian approach is performed using functions within Orfeo Toolbox (OTB), open source remote sensing library. In addition, similarity of fused images with respect to input image set is estimated by histogram distance metrics. This result can be used as the reference criterion for user parameter choice on Bayesian image fusion. It is thought that the implementation strategy for mobile cloud application based on full open sources provides good points for a mobile service supporting specific remote sensing functions, besides image fusion schemes, by user demands to expand remote sensing application fields.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2007년도 춘계학술발표회 논문집
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• pp.179-182
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• 2007

In this study, we proposed a way to detect trees using virtual grid and to discriminate vertical wall points from building tops based on effective segmentation of LIDAR point cloud utilizing scan line characteristics. Trees were detected by their surface roughness value calculated based on virtual grid and vertical building wall points were discriminated from building tops with one dimensional filtering of scan line during segmenting point cloud. In results, we could distinguish trees from buildings and bind virtical wall points to prevent them from faltly acting on point segmentation process.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.680-681
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• 2015

This study develops an algorithm that automatically performs reverse engineering on three-dimensional (3D) sweeping shapes using a user's pre-defined feature templates and 3D point cloud data (PCD) of sweeping shapes. Existing methods extract 3D sweeping shapes by extracting points on a PCD cross section together with the center point in order to perform curve fitting and connect the center points. However, a drawback of existing methods is the difficulty of creating a 3D sweeping shape in which the user's preferred feature center points and parameters are applied. This study extracts shape features from cross-sectional points extracted automatically from the PCD and compared with pre-defined feature templates for similarities, thereby acquiring the most similar template cross-section. Fitting the most similar template cross-section to sweeping shape modeling makes the reverse engineering process automatic.

• 한국측량학회지
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• 제33권5호
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• pp.437-442
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• 2015

최근 3차원 지상 레이저 스캐너의 성능이 고도로 향상됨에 따라 취득된 측점들로 구성된 포인트 클라우드의 용량도 급격히 증가하고 있다. 본 연구는 3차원 지상 레이저 스캐너로부터 취득한 대용량 포인트 클라우드로부터 옥트리를 생성하고 측점을 질의하기 위한 선행 연구의 파일 참조 옥트리 방식을 개선하는 것을 목표로 한다. 이를 위하여 메인 메모리에 구현된 옥트리의 리프 노드에는 첫 번째 측점의 파일 포인터만을 저장하였다. 아울러 동일한 리프 노드에 속하는 측점들이 연속적으로 기록되도록 포인트 클라우드 파일을 재구성하였다. 약 3억 개의 측점으로 구성된 포인트 클라우드로부터 옥트리를 생성하고 일련의 측점 주위로 일정 반경 안에 존재하는 측점들에 대한 질의 시간을 측정하였다. 결과적으로 옥트리의 생성 시간, 저장과 복원 시간, 질의 시간 및 메모리 사용량 등 모든 면에서 제안한 방식이 기존 방식에 비하여 향상된 성능을 나타내었다. 특히 질의 속도는 2배 이상, 메모리 효율성은 4배 이상 증가하였다. 따라서 본 연구는 선행 연구의 방식을 명백히 향상시켰다고 판단할 수 있다. 아울러 메인 메모리의 크기를 크게 상회하는 초대용량 포인트 클라우드로부터 옥트리를 구성하고 측점을 질의하는 것이 가능할 것으로 판단된다.

• Smart Structures and Systems
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• 제30권5호
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• pp.501-511
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• 2022

Three-dimensional (3D) models have become crucial for improving civil infrastructure analysis, and they can be used for various purposes such as damage detection, risk estimation, resolving potential safety issues, alarm detection, and structural health monitoring. 3D point cloud data is used not only to make visual models but also to analyze the states of structures and to monitor them using semantic data. This study proposes automating the generation of high-quality 3D point cloud data and removing noise using deep learning algorithms. In this study, large-format aerial images of civilian infrastructure, such as cut slopes and dams, which were captured by drones, were used to develop a workflow for automatically generating a 3D point cloud model. Through image cropping, downscaling/upscaling, semantic segmentation, generation of segmentation masks, and implementation of region extraction algorithms, the generation of the point cloud was automated. Compared with the method wherein the point cloud model is generated from raw images, our method could effectively improve the quality of the model, remove noise, and reduce the processing time. The results showed that the size of the 3D point cloud model created using the proposed method was significantly reduced; the number of points was reduced by 20-50%, and distant points were recognized as noise. This method can be applied to the automatic generation of high-quality 3D point cloud models of civil infrastructures using aerial imagery.