• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.47 no.3
• /
• pp.29-35
• /
• 2010

This paper discusses a method that can enhance the exactness of depth estimation of an image by PCA(Principle Component Analysis) based on feature reduction through learning algorithm. In estimation of the depth of an image, hyphen such as energy of pixels and gradient of them are found, those selves and their relationship are used for depth estimation. In such a case, many features are obtained by various filter operations. If all of the obtained features are equally used without considering their contribution for depth estimation, The efficiency of depth estimation goes down. This paper proposes a method that can enhance the exactness of depth estimation of an image and its processing speed is considered as the contribution factor through PCA. The experiment shows that the proposed method(30% of an feature vector) is more exact(average 0.4%, maximum 2.5%) than using all of an image data in depth estimation.

• Journal of Korea Multimedia Society
• /
• v.19 no.9
• /
• pp.1647-1658
• /
• 2016

RGB+D database has been widely used in object recognition, object tracking, robot control, to name a few. While rapid advance of active depth sensing technologies allows for the widespread of indoor RGB+D databases, there are only few outdoor RGB+D databases largely due to an inherent limitation of active depth cameras. In this paper, we propose a novel method used to build outdoor RGB+D databases. Instead of using active depth cameras such as Kinect or LIDAR, we acquire a pair of stereo image using high-resolution stereo camera and then obtain a depth map by applying stereo matching algorithm. To deal with estimation errors that inevitably exist in the depth map obtained from stereo matching methods, we develop an approach that estimates confidence of depth maps based on unsupervised learning. Unlike existing confidence estimation approaches, we explicitly consider a spatial correlation that may exist in the confidence map. Specifically, we focus on refining confidence feature with the assumption that the confidence feature and resultant confidence map are smoothly-varying in spatial domain and are highly correlated to each other. Experimental result shows that the proposed method outperforms existing confidence measure based approaches in various benchmark dataset.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.457-461
• /
• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

• ETRI Journal
• /
• v.44 no.1
• /
• pp.38-50
• /
• 2022

This paper presents a study on the use of encoder-derived features in decoder-side depth estimation. The scheme of multiview video encoding does not require the transmission of depth maps (which carry the geometry of a three-dimensional scene) as only a set of input views and their parameters are compressed and packed into the bitstream, with a set of features that could make it easier to estimate geometry in the decoder. The paper proposes novel recursive block splitting for the feature extraction process and evaluates different scenarios of feature-driven decoder-side depth estimation, performed by assessing their influence on the bitrate of metadata, quality of the reconstructed video, and time of depth estimation. As efficient encoding of multiview sequences became one of the main scopes of the video encoding community, the experimental results are based on the "geometry absent" profile from the incoming MPEG Immersive video standard. The results show that the quality of synthesized views using the proposed recursive block splitting outperforms that of the state-of-the-art approach.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.10a
• /
• pp.256-257
• /
• 2022

In this paper, we introduce a method of extracting three-dimensional feature points through the movement of a single mobile device. Using a monocular camera, a 2D image is acquired according to the camera movement and a baseline is estimated. Perform stereo matching based on feature points. A feature point and a descriptor are acquired, and the feature point is matched. Using the matched feature points, the disparity is calculated and a depth value is generated. The 3D feature point is updated according to the camera movement. Finally, the feature point is reset at the time of scene change by using scene change detection. Through the above process, an average of 73.5% of additional storage space can be secured in the key point database. By applying the algorithm proposed to the depth ground truth value of the TUM Dataset and the RGB image, it was confirmed that the\re was an average distance difference of 26.88mm compared with the 3D feature point result.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.6
• /
• pp.2730-2747
• /
• 2016

Due to the limitation of the bandwidth resource and capture resolution of depth cameras, low resolution depth maps should be up-sampled to high resolution so that they can correspond to their texture images. In this paper, a novel depth map up-sampling algorithm is proposed by exploiting the fractal internal self-referential feature. Fractal parameters which are extracted from a depth map, describe the internal self-referential feature of the depth map, do not introduce inherent scale and just retain the relational information of the depth map, i.e., fractal transforms provide a resolution-independent description for depth maps and could up-sample depth maps to an arbitrary high resolution. Then, an enhancement method is also proposed to further improve the performance of the up-sampled depth map. The experimental results demonstrate that better quality of synthesized views is achieved both on objective and subjective performance. Most important of all, arbitrary resolution depth maps can be obtained with the aid of the proposed scheme.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.12 no.5
• /
• pp.2327-2347
• /
• 2018

Human actions can be recognized from depth sequences. In the proposed algorithm, we initially construct depth, motion maps (DMM) by projecting each depth frame onto three orthogonal Cartesian planes and add the motion energy for each view. The body part of the action (BPoA) is calculated by using bounding box with an optimal window size based on maximum spatial and temporal changes for each DMM. Furthermore, feature vector is constructed by using BPoA for each human action view. In this paper, we employed an ensemble based learning approach called Rotation Forest to recognize different actions Experimental results show that proposed method has significantly outperforms the state-of-the-art methods on Microsoft Research (MSR) Action 3D and MSR DailyActivity3D dataset.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1848-1851
• /
• 1997

This paper presents the development of depth detection algorithm for the 3D Endoscopic Data using a stereo matchod and depth calcuation.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.52 no.2
• /
• pp.103-110
• /
• 2016

This study aims to estimate the species, size and shape of fish using a non-contact 3 dimensional pattern laser so that this preliminary test was carried out to understand the structural feature and length of goldfish according to water turbidity and depth in the aquacultural tank. 3-D pattern laser could clearly detect its morphological shape except the caudal fin due to soft tissue. Since the sensing strength of line laser light according to depth has sufficient power, it is possible to measure its depth and structural feature in the detected range. The result showed that the measured error of individual's fork length was less than ${\pm}1%$ in the water using 3-D pattern laser, when compared with the measured value in the air.

• Journal of Korea Multimedia Society
• /
• v.24 no.8
• /
• pp.1026-1034
• /
• 2021

Tire wear and defect are important factors for safe driving condition. These defects are generally inspected by some specialized experts or very expensive equipments such as stereo depth camera and depth gauge. In this paper, we propose tire safety vision inspector based on deep neural network (DNN). The status of tire wear is categorized into three: 'safety', 'warning', and 'danger' based on depth of tire tread. We propose an attention mechanism for emphasizing the feature of tread area. The attention-based feature is concatenated to output feature maps of the last convolution layer of ResNet-101 to extract more robust feature. Through experiments, the proposed tire wear classification model improves 1.8% of accuracy compared to the existing ResNet-101 model. For detecting the tire defections, the developed tire defect detection model shows up-to 91% of accuracy using the Mask R-CNN model. From these results, we can see that the suggested models are useful for checking on the safety condition of working tire in real environment.