• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.1
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• pp.58-63
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• 2020

This paper proposes the method for improving the localization accuracy of the mobile robot based on the stereo camera. To restore the position information from stereo images obtained by the stereo camera, the corresponding point which corresponds to one pixel on the left image should be found on the right image. For this, there is the general method to search for corresponding point by calculating the similarity of pixel with pixels on the epipolar line. However, there are some disadvantages because all pixels on the epipolar line should be calculated and the similarity is calculated by only pixel value like RGB color space. To make up for this weak point, this paper implements the method to search for the corresponding point simply by calculating the gap of x-coordinate when the feature points, which are extracted by feature extraction and matched by feature matching method, are a pair and located on the same y-coordinate on the left/right image. In addition, the proposed method tries to preserve the number of feature points as much as possible by finding the corresponding points through the conventional algorithm in case of unmatched features. Because the number of the feature points has effect on the accuracy of the localization. The position of the mobile robot is compensated based on 3-D coordinates of the features which are restored by the feature points and corresponding points. As experimental results, by the proposed method, the number of the feature points are increased for compensating the position and the position of the mobile robot can be compensated more than only feature extraction.

• Investigative Magnetic Resonance Imaging
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• v.16 no.1
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• pp.67-75
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• 2012

Purpose : We studied enhanced method to view the vessels in the brain using Magnetic Resonance Angiography (MRA). Noticing that Maximum Intensity Projection (MIP) image is often used to evaluate the arteries of the neck and brain, we propose a new method for view brain vessels to stereo image in 3D space with more superior and more correct compared with conventional method. Materials and Methods: We use 3T Siemens Tim Trio MRI scanner with 4 channel head coil and get a 3D MRA brain data by fixing volunteers head and radiating Phase Contrast pulse sequence. MRA brain data is 3D rotated according to the view angle of each eyes. Optimal view angle (projection angle) is determined by the distance between eye and center of the data. Newly acquired MRA data are projected along with the projection line and display only the highest values. Each left and right view MIP image is integrated through anaglyph imaging method and optimal stereoscopic MIP image is acquired. Results: Result image shows that proposed method let enable to view MIP image at any direction of MRA data that is impossible to the conventional method. Moreover, considering disparity and distance from viewer to center of MRA data at spherical coordinates, we can get more realistic stereo image. In conclusion, we can get optimal stereoscopic images according to the position that viewers want to see and distance between viewer and MRA data. Conclusion: Proposed method overcome problems of conventional method that shows only specific projected image (z-axis projection) and give optimal depth information by converting mono MIP image to stereoscopic image considering viewers position. And can display any view of MRA data at spherical coordinates. If the optimization algorithm and parallel processing is applied, it may give useful medical information for diagnosis and treatment planning in real-time.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.43 no.3 s.309
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• pp.30-38
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• 2006

In this paper, we improved to drops recognition rate according to distance using distance and depth information with 3D from stereo face images. A monocular face image has problem to drops recognition rate by uncertainty information such as distance of an object, size, moving, rotation, and depth. Also, if image information was not acquired such as rotation, illumination, and pose change for recognition, it has a very many fault. So, we wish to solve such problem. Proposed method consists of an eyes detection algorithm, analysis a pose of face, md principal component analysis (PCA). We also convert the YCbCr space from the RGB for detect with fast face in a limited region. We create multi-layered relative intensity map in face candidate region and decide whether it is face from facial geometry. It can acquire the depth information of distance, eyes, and mouth in stereo face images. Proposed method detects face according to scale, moving, and rotation by using distance and depth. We train by using PCA the detected left face and estimated direction difference. Simulation results with face recognition rate of 95.83% (100cm) in the front and 98.3% with the pose change were obtained successfully. Therefore, proposed method can be used to obtain high recognition rate with an appropriate scaling and pose change according to the distance.

• Journal of Digital Contents Society
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• v.13 no.2
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• pp.225-233
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• 2012

The 3D stereoscopic image contents have been emerging as the blue chip of the contents market of the next generation since the . However, all the 3D contents created commercially in the country have failed to enter box office. It is because the quality of Korean 3D contents is much lower than that of overseas contents and also current 3D post production process is based on 2D. Considering all these facts, the 3D editing process has connection with the quality of contents. The current 3D editing processes of the production case of are using the way that edits with the system on basis of 2D, followed by checking with 3D display system and modifying, if there are any problems. In order to improve those conditions, I suggest that the 3D editing process contain more objectivity by visualizing the depth data applied in some composition work such as Disparity map, Depth map, and the current 3D editing process. The proposed process has been used in the music drama , comparing with those of the film . The 3D values could be checked among cuts which have been changed a lot since those of , while the 3D value of drew an equal result in general. Since the current process is based on an artist's subjective sense of 3D, it could be changed according to the condition and state of the artist. Furthermore, it is impossible for us to predict the positive range, so it is apprehended that the cubic effect of space might be perverted by showing each different 3D value according to cuts in the same space or a limited space. On the other hand, the objective 3D editing by applying the visualization of depth data can adjust itself to the cubic effect of the same space and the whole content equally, which will enrich the 3D contents. It will even be able to solve some problems such as distortion of cubic effect and visual fatigue, etc.