• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.3 s.303
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• pp.39-52
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• 2005

In this paper, a registration method is presented to register partial 3D point clouds, acquired from a multi-view camera, for 3D reconstruction of an indoor environment. In general, conventional registration methods require a high computational complexity and much time for registration. Moreover, these methods are not robust for 3D point cloud which has comparatively low precision. To overcome these drawbacks, a projection-based registration method is proposed. First, depth images are refined based on temporal property by excluding 3D points with a large variation, and spatial property by filling up holes referring neighboring 3D points. Second, 3D point clouds acquired from two views are projected onto the same image plane, and two-step integer mapping is applied to enable modified KLT (Kanade-Lucas-Tomasi) to find correspondences. Then, fine registration is carried out through minimizing distance errors based on adaptive search range. Finally, we calculate a final color referring colors of corresponding points and reconstruct an indoor environment by applying the above procedure to consecutive scenes. The proposed method not only reduces computational complexity by searching for correspondences on a 2D image plane, but also enables effective registration even for 3D points which have low precision. Furthermore, only a few color and depth images are needed to reconstruct an indoor environment.

• The Journal of Sustainable Design and Educational Environment Research
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• v.10 no.1
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• pp.1-9
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• 2011

In order to solve the current shortage of parking spaces, and redesign the main gate area of the U University, the research investigated some cases of other schools located in Seoul which actively constructed multi-purpose building structures. Those schools are considered to be good samples showing their efforts to fulfill the needs of more parking spaces in their campuses, and to cover with the growing needs of multi-functioned facilities accommodating services of academic affairs, reading room spaces, and amenities. With the investigation, the research finded out the current trends of campus developments from the sample schools, such as underground parking facilities connected with multi-purpose buildings along the main arteries of campuses. Following the trends the research thoroughly examined the present conditions of our school and tried to make some possible alternatives for the facilities. Under the conditions, the research suggested 1)to construct underground parking lots accepting around 1,000 cars under the ivory tower square located in front of University Administration Building, 2)to develop a big-scaled open square at the university main gate, and 3)to build a multi-purpose structure along the main street of the campus, which included administration services, studying spaces, and some commercial facilities.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.9-18
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• 2016

A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.

• Journal of International Society for Simulation Surgery
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• v.3 no.2
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• pp.39-45
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• 2016

The augmented reality is the environment which consists of real-world view and information drawn by computer. Since the image which user can see through augmented reality device is a synthetic image composed by real-view and virtual image, it is important to make the virtual image generated by computer well harmonized with real-view image. In this paper, we present reviews of several works about computer vision and graphics methods which give user realistic augmented reality experience. To generate visually harmonized synthetic image which consists of a real and a virtual image, 3D geometry and environmental information such as lighting or material surface reflectivity should be known by the computer. There are lots of computer vision methods which aim to estimate those. We introduce some of the approaches related to acquiring geometric information, lighting environment and material surface properties using monocular or multi-view images. We expect that this paper gives reader's intuition of the computer vision methods for providing a realistic augmented reality experience.

• Journal of IKEEE
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• v.7 no.1 s.12
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• pp.119-126
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• 2003

This paper presents a methodology for constructing a surgical simulation environment for the replacement of artificial knee join using CT image data. We provide a user interface of preoperative planning system for performing complex 3-D spatial manipulation and reasoning tasks. Simple manipulation of joystick and mouse has been proved to be both intuitive and accurate for the fitness and the wear expect of joint. The proposed methodology are useful for future virtual medical system where all the components of visualization, automated model generation, and surgical simulation are integrated.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.548-551
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• 2007

Among components of digital topographic maps used officially in Korea, only contours have 3D values except buildings and trees that are demanded in landscape planning. This study presented a series of processes for 3Dreconstructing landscape features such as terrain, buildings and standing trees using LiDAR (Light Detection And Ranging) data and aerial digital photo graphs. The 3D reconstructing processes contain 1) building terrain model, 2) delineating outline of landscape features, 3) extracting height values, and 4) shaping and coloring landscape features using aerial photograph and 3-D virtual data base. LiDAR data and aerial photograph was taken in November 2006 for $50km^{2}$ area in Sorak National Park located in eastern part of Korea. The average scanning density of LiDAR pulse was 1.32 points per square meter, and the aerial photograph with RGB bands has $0.35m{\times}0.35m$ spatial resolution. Using reconstructed 3D landscape features, visibility with the growing trees with time and at different viewpoints was analyzed. Visible area from viewpoint could be effectively estimated considering 3D information of landscape features. This process could be applied for landscape planning like building scale with the consideration of surrounding landscape features.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.302-320
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• 2017

In this paper, an innovative robust feature detection and matching strategy for visual odometry based on stereo image sequence is proposed. First, a sparse multiscale 2D local invariant feature detection and description algorithm AKAZE is adopted to extract the interest points. A robust feature matching strategy is introduced to match AKAZE descriptors. In order to remove the outliers which are mismatched features or on dynamic objects, an improved random sample consensus outlier rejection scheme is presented. Thus the proposed method can be applied to dynamic environment. Then, geometric constraints are incorporated into the motion estimation without time-consuming 3-dimensional scene reconstruction. Last, an iterated sigma point Kalman Filter is adopted to refine the motion results. The presented ego-motion scheme is applied to benchmark datasets and compared with state-of-the-art approaches with data captured on campus in a considerably cluttered environment, where the superiorities are proved.

• KIEAE Journal
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• v.3 no.3
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• pp.59-66
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• 2003

From an sustainable perspective, one unique characteristic of Open Housing is its ability to individualize variable elements (infill) from the permanent elements (support) in accordance with the residents' needs. Such environment-friendly elements of Open Housing can contribute to increasing the life span of the building, reducing the scope of reconstruction, and minimizing the amount of disposed building materials during demolition. The purpose of this research is to analyze the flexibility concept from a typological perspective, so that the concept of open housing can be better understood and its development can be promoted. The main method of this study was content analysis. Based on literature review of flexibility concept in a typological approach, a primary categories were established to describe the flexibility concept such as time for flexibility, scope, and the degree of openness. Subsequently each criterion was elaborated as follows: planning, supply, and utility in the time stage; internal and external flexibility in its scope; and fixed, semi-free, and free flexibility in its openness degree. This research exposes the lack of comprehensive knowledge of Open Housing caused by rather uniform features of previous studies. This research establishes and promotes a systematic approach for a more holistic meaning of Open Housing. This approach should contribute to the proper utilization and further development of sustainable housing.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.5
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• pp.425-433
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• 2020

Three-dimensional data has been used for different applications such as robotics, building reconstruction, and so on. 3D data can be generated from an optical camera or a laser scanner. Especially, a wearable multi-sensor system including the above-mentioned sensors is an optimized structure that can overcome the drawbacks of each sensor. After finding the geometric relationships between sensors, georeferencing of the datasets acquired from the moving system, should be carried out. Especially, in an indoor environment, error propagation always causes problem in the georeferencing process. To improve the accuracy of this process, other sources of data were used to combine with LiDAR (Light Detection and Ranging) data, and various registration methods were also tested to find the most suitable way. More specifically, this paper proposed a new process of NDT (Normal Distribution Transform) to register the LiDAR point cloud, with additional information from other sensors. For real experiment, a wearable mapping system was used to acquire datasets in an indoor environment. The results showed that applying the new process of NDT and combining LiDAR data with IMU (Inertial Measurement Unit) information achieved the best result with the RMSE 0.063 m.

• KIEAE Journal
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• v.5 no.3
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• pp.17-24
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• 2005

Until today, rainwater management was processed without disposing the peak discharge, which was due to rainfall, to provide stability against flood damage. In this process, the natural hydrologic cycle changed quickly, and because of this, some problems that could harm human beings and the environment arose. These problems need to be addressed accordingly. One of the proposals was to carry out decentralized rainwater management through a natural hydrologic cycle on site, including utilization, infiltration, detention, and retention of rainwater. This study aims to set the direction of applicable decentralized rainwater management to housing complex in Korea. Therefore, spacial properties in urban housing complexes were analysed such as the impervious area-to-land ratio, the green area-to-land ratio, artificial land-to-land ratio etc. As the result of this study, when a housing complex was small and developed by reconstruction, the impervious area, artificial land, the green area in the artificial land-to-land ratio were high. So, direction of decentralized rainwater management of these housing complexes is available to utilize and detain rainwater. On the other hand, those of big housing complexes in land development district were low relatively. So, direction of decentralized rainwater management of these housing complexes is available to infiltrate and evaporate rainwater.