• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.6
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• pp.3108-3120
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• 2019

Point cloud is widely used in 3D applications due to the recent advancement of 3D data acquisition technology. Polygonal mesh-based compression has been dominant since it can replace many points sharing a surface with a set of vertices with mesh structure. Recent point cloud-based applications demand more point-based interactivity, which makes point cloud compression (PCC) becomes more attractive than 3D mesh compression. Interestingly, an exploration activity has been started to explore the feasibility of PCC standard in MPEG. In this paper, a new color attribute compression method is presented for point cloud data. The proposed method utilizes the spatial redundancy among color attribute data to construct a color palette. The color palette is constructed by using K-means clustering method and each color data in point cloud is represented by the index of its similar color in palette. To further improve the compression efficiency, the spatial redundancy between the indices of neighboring colors is also removed by marking them using a flag bit. Experimental results show that the proposed method achieves a better improvement of RD performance compared with that of the MPEG PCC reference software.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.189-198
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• 2021

In this paper, we introduce the software/hardware system that can reliably calculate the distance from sensor to the model regardless of point cloud density. As the 3d point cloud map is widely adopted for SLAM and computer vision, the accuracy of point cloud map is of great importance. However, the 3D point cloud map obtained from Lidar may reveal different point cloud density depending on the choice of sensor, measurement distance and the object shape. Currently, when measuring map accuracy, high reflective bands are used to generate specific points in point cloud map where distances are measured manually. This manual process is time and labor consuming being highly affected by Lidar sparsity level. To overcome these problems, this paper presents a hardware design that leverage high intensity point from three planar surface. Furthermore, by calculating distance from sensor to the device, we verified that the automated method is much faster than the manual procedure and robust to sparsity by testing with RGB-D camera and Lidar. As will be shown, the system performance is not limited to indoor environment by progressing the experiment using Lidar sensor at outdoor environment.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.176-183
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• 2003

The paper presents a feature recognition and segmentation method for surface approximation in reverse engineering. Efficient digitizing plays an important role in constructing a computational surface model from a physical part-surface without its CAD model on hand. Depending on its measuring source (e.g., touch probe or structured light), each digitizing method has its own strengths and weaknesses in terms of speed and accuracy. The final goal of the research focuses on an integration of two different digitizing methods: measuring by the structured light and that by the touch probe. Gathering bulk of digitized points (j.e., cloud-of-points) by use of a laser scanning system, we construct a coarse surface model directly from the cloud-of-points, followed by the segmentation process where we utilize the z-map filleting & differencing to trace out feature boundary curves. The feature boundary curves and the approximate surface model could be inputs to further digitizing by a scanning touch probe. Finally, more accurate measuring points within the boundary curves can be obtained to construct a finer surface model.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.4
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• pp.335-342
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• 2012

3D point cloud is widely used in Architecture, Civil Engineering, Medical, Computer Graphics, and many other fields. Due to the improvement of 3D laser scanner, a massive 3D point cloud whose gigantic file size is bigger than computer's memory requires efficient preprocessing and visualization. We suggest a data structure to solve the problem; a 3D point cloud is gradually subdivided by arbitrary-sized cube grids structure and corresponding point cloud subsets generated by the center of each grid cell are achieved while preprocessing. A massive 3D point cloud file is tested through two algorithms: QSplat and ours. Our algorithm, grid-based, showed slower speed in preprocessing but performed faster rendering speed comparing to QSplat. Also our algorithm is further designed to editing or segmentation using the original coordinates of 3D point cloud.

• Journal of Korea Multimedia Society
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• v.23 no.2
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• pp.166-173
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• 2020

Multi-view images, which are widely used for providing free-viewpoint services, can enhance the quality of synthetic views when the number of views increases. However, there needs an efficient representation method because of the tremendous amount of data. In this paper, we propose a method for generating point cloud data for the efficient representation of multi-view color and depth images. The proposed method conducts sequential reconstruction of point clouds at each viewpoint as a method of deleting duplicate data. A 3D point of a point cloud is projected to a frame to be reconstructed, and the color and depth of the 3D point is compared with the pixel where it is projected. When the 3D point and the pixel are similar enough, then the pixel is not used for generating a 3D point. In this way, we can reduce the number of reconstructed 3D points. Experimental results show that the propose method generates a point cloud which can generate multi-view images while minimizing the number of 3D points.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.1
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• pp.41-48
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• 2013

The aim of the present study is to design a memory-efficient octree for querying large 3D point cloud. The aim has been fulfilled by omitting variables for minimum bounding hexahedral (MBH) of each octree node expressed in C++ language and by passing the re-estimated MBH from parent nodes to child nodes. More efficiency has been reported by two-fold processes of generating pseudo and regular trees to declare an array for all anticipated nodes, instead of using new operator to declare each child node. Experiments were conducted by constructing tree structures and querying neighbor points out of real point cloud composed of more than 18 million points. Compared with conventional methods using MBH information defined in each node, the suggested methods have proved themselves, in spite of existing trade-off between speed and memory efficiency, to be more memory-efficient than the comparative ones and to be practical alternatives applicable to large 3D point cloud.

• Journal of KIISE
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• v.44 no.4
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• pp.392-398
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• 2017

The point-cloud representation of an object is performed by scanning a space through a laser scanner that is extracting a set of points, and the points are then integrated into the same coordinate system through a registration. The set of the completed registration-integrated point clouds is classified into meaningful regions, shapes, and noises through a mathematical analysis. In this paper, the aim is the matching of a curved area like a cylinder shape in 3D point-cloud data. The matching procedure is the attainment of the center and radius data through the extraction of the cylinder-shape candidates from the sphere that is fitted through the RANdom Sample Consensus (RANSAC) in the point cloud, and completion requires the matching of the curved region with the Catmull-Rom spline from the extracted center-point data using the Principal Component Analysis (PCA). Not only is the proposed method expected to derive a fast estimation result via linear and curved cylinder estimations after a center-axis estimation without constraint and segmentation, but it should also increase the work efficiency of reverse engineering.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.8 s.251
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• pp.906-915
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• 2006

This study concerns an advanced 3D surface reconstruction method that the vertices of surface model can be completely matched to the unstructured point cloud measured from arbitrary complex shapes. The concept of bounding voxel model is introduced to generate the mesh model well-representing the geometrical and topological characteristics of point cloud. In the reconstruction processes, the application of various methodologies such as shrink-wrapping, mesh simplification, local subdivision surface fitting, insertion of is isolated points, mesh optimization and so on, are required. Especially, the effectiveness, rapidity and reliability of the proposed surface reconstruction method are demonstrated by the simulation results for the geometrically and topologically complex shapes like dragon and human mouth.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.8
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• pp.411-417
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• 2005

We present a method to reconstruct a canal surface from a point cloud (a set of unorganized points). A canal surface is defined as a swept surface of a moving sphere with varying radii. By using the shrinking and moving least-squares methods, we reduce a point cloud to a thin curve-like point set which can be approximated to the spine curve of a canal surface. The distance between a point in the thin point cloud and a corresponding point in the original point set represents the radius of the canal surface.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.115-126
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• 2016

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.