• Journal of Biomedical Engineering Research
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• v.27 no.6
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• pp.392-401
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• 2006

Image Guided Surgery (IGS) system which has variously tried in medical engineering fields is able to give a surgeon objective information of operation process like decision making and surgical planning. This information is displayed through 3D images which are acquired from image modalities like CT and MRI for pre-operation. The technique of image registration is necessary to construct IGS system. Image registration means that 3D model and the object operated by a surgeon are matched on the common frame. Major techniques of registration in IGS system have been used by recognizing fiducial markers placed on the object. However, this method has been criticized due to additional trauma, its invasive protocol inserting fiducial markers in patient's bone and generating noise data when 2D slice images are acquired by image modality because many markers are made of metal. Therefore, this paper developed shape-based registration technique to improve the limitation of fiducial marker based IGS system. Iterative Closest Points (ICP) algorithm was used to match corresponding points and quaternion based rotation and translation transformation using closed form solution applied to find the optimized cost function of transformation. we assumed that this algorithm were used in Total Knee replacement (TKR) operation. Accordingly, we have developed region-based 3D registration technique based on anatomical landmarks and this registration algorithm was evaluated in a femur model. It was found that region-based algorithm can improve the accuracy in 3D registration.

• Journal of Korea Multimedia Society
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• v.10 no.3
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• pp.303-315
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• 2007

This paper proposes a 3D structure recovery and registration method that uses four or more common points. For each frame of a given video, a partial structure is recovered using tracked points. The 3D coordinates, camera positions and camera directions are computed at once by our improved scaled orthographic factorization method. The partially recovered point sets are parts of a whole model. A registration of point sets makes the complete shape. The recovered subsets are integrated by transforming each coordinate system of the local point subset into a common basis coordinate system. The process of shape recovery and integration is performed uniformly and linearly without any nonlinear iterative process and without loss of accuracy. The execution time for the integration is significantly reduced relative to the conventional ICP method. Due to the fast recovery and registration framework, our shape recovery scheme is applicable to various interactive video applications. The processing time per frame is under 0.01 seconds in most cases and the integration error is under 0.1mm on average.

• Journal of Biomedical Engineering Research
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• v.37 no.2
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• pp.68-74
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• 2016

In this study, we investigated the rotational characteristics which were comprised of directionality and linearity of target registration error (TRE) as a study in advance to enhance the accuracy of contour-based registration in neuronavigation. For the experiment, two rigid head phantoms that have different faces with specially designed target frame fixed inside of the phantoms were used. Three-dimensional coordinates of facial surface point cloud and target point of the phantoms were acquired using computed tomography (CT) and 3D scanner. Iterative closest point (ICP) method was used for registration of two different point cloud and the directionality and linearity of TRE in overall head were calculated by using 3D position of targets after registration. As a result, it was represented that TRE had consistent direction in overall head region and was increased in linear fashion as distance from facial surface, but did not show high linearity. These results indicated that it is possible for decrease TRE by controlling orientation of facial surface point cloud acquired from scanner, and the prediction of TRE from surface registration error can decrease the registration accuracy in lesion. In the further studies, we have to develop the contour-based registration method for improvement of accuracy by considering rotational characteristics of TRE.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.5
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• pp.552-560
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• 2013

In this paper, an optimization algorithm for the block assembly accuracy control assessment is proposed with consideration for the current block assembly process and accuracy control procedure used in the shipbuilding site. The objective function of the proposed algorithm consists of root mean square error of the distances between design and measured data of the other control points with respect to a specific point of the whole control points. The control points are divided into two groups: points on the control line and the other points. The grouped data are used as criteria for determining the combination of 6 degrees of freedom in the registration process when constituting constraints and calculating objective function. The optimization algorithm is developed by using combination of the sampling method and the point to point relation based modified ICP algorithm which has an allowable error check procedure that makes sure that error between design and measured point is under allowable error. According to the results from the application of the proposed algorithm with the design and measured data of two blocks data which are verified and validated by an expert in the shipbuilding site, it implies that the choice of whole control points as target points for the accuracy calculation shows better results than that of the control points on the control line as target points for the accuracy of the calculation and the best optimized result can be acquired from the accuracy calculation with a fixed point on the control line as the reference point of the registration.

• Journal of Ocean Engineering and Technology
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• v.23 no.1
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• pp.135-139
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• 2009

In the line heating for the plate forming of a ship's hull, an in line assessment of completion is necessary for an automated production system. In the current curved plate forming process, a fabricated plate is compared to a template that is made in the mold loft and is used for the determination of the heating line for the next step. In this paper, a new method is presented for the in line assessment of completion for curved plate forming. This method uses a 3-D scanner. For the registration of the scanned data for a surface and the target surface, the ICP (Iterative Closest Points) method was adopted. A computer program was developed to carry out the registration, check for similarities, visualize the surface, and control the results. This program was applied to a sample curved plate forming process.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.493-493
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• 2013

에싱(Ashing)공정을 위한 원격 유도 결합 플라즈마(remote ICP)에서 플라즈마 균일도를 향상하는 연구를 진행하였다. 본 연구에서는 고균일도 플라즈마 발생을 위해 단면적이 다른 2개의 반응 용기를 각각 상부와 하부에 설치하여 각각의 반응 용기 외곽에 방전 코일이 위치하도록 구성하였다. 0.7~1 Torr 공정 압력 범위의 질소와 산소 혼합 기체에서 2,500 W 전력을 인가하였고, 임피던스 정합회로로부터 각각 병렬로 연결된 방전 코일에 전력이 분배되어 인가된다. 에싱 공정을 위한 플라즈마 균일도를 분석하기 위해 Wafer의 위치에서 부유 탐침법을 적용하여 중심부에서 외곽부로 지름축 위치를 변화시키며 플라즈마 밀도와 전자온도를 측정하고, 공정 조건에 따른 에싱율(Asing Rate)을 측정하였다. 동일한공정 조건에서 하나의 방전 코일을 이용한 경우의 플라즈마 균일도 대비 이중 코일 구조를 이용한 경우 플라즈마 균일도가 크게 향상됨을 보였다. 이는 상부의 유도코일이 wafer 위치에서 주로 지름방향 중심부의 플라즈마 밀도에 기여하고, 하부의 유도코일은 주로 외곽의 플라즈마 밀도에 기여해서 나타나는 현상이다. 공정용 장비에서 플라즈마 균일도의 개선으로 공정 수율을 증가 시키는 효과를 기대할 수 있다.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.492-492
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• 2013

반도체 공정을 위한 원격 유도 결합 플라즈마(remote ICP)에서 플라즈마 균일도를 향상하는 연구를 진행하였다. 본 연구에서는고 균일도 플라즈마 발생을 위해 단면적이 다른 2개의 반응 용기를 상부와 하부에 설치하였으며, 각각의 반응 용기 외곽에 방전 코일이 위치하도록 구성하였다. 상부의 반응 용기는 외곽에 유도 코일을 권선하였고, 하부의 반응 용기는 고밀도의 플라즈마 생성을 위해 강자성체를 이용하여 권선하였으며, 강자성체는 쿼츠관을 둘러 싼 구조로 되어 있다. 0.5-1 Torr 공정 압력 범위의 아르곤 기체에서 전체 2500 W의 전력을 인가하였고, 임피던스 정합회로로부터 각각 병렬로 연결된 방전 코일에 전력이 분배되어 인가되는 구조로 설계하였다. 반도체 공정을 위한 플라즈마 균일도를 분석하기 위해 wafer의 위치에서 부유 탐침법을 적용하여 wafer 중심부로부터 반경 방향으로 위치를 변화시키며 플라즈마 밀도와 전자온도를 측정하였다. 동일한 공정 조건에서 하부에 강자성체를 사용하여 권선한 이중 구조의 경우 하나의 방전 코일을 이용한 구조 대비 플라즈마 밀도가 증가하였고, 플라즈마 균일도가 크게 향상됨을 보였다. 강자성체를 이용한 하부 코일에 의해 wafer 외곽 부분의 밀도가 높은 분포를 갖는 플라즈마가 형성되고, 상부의 유도코일에 의해 wafer 중심부에 밀도가 높은 플라즈마가 형성되어 wafer의 플라즈마 균일도가 개선된다. 또한, 강자성체를 이용한 하부 코일에 의해 고밀도의 플라즈마가 형성되므로 반도체 공정을 위한 장비에서 플라즈마 균일도의 개선과 밀도의 향상으로 대면적 Dry Strip 공정 (450mm)에 적용 가능하다.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.6
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• pp.303-310
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• 2023

A single vision system limits the ability to accurately understand the spatial constraints and interactions between robots and dynamic workers caused by gantry robots and collaborative robots during production manufacturing. In this paper, we propose a 3D pose registration method for dynamic workers based on a multi-domain vision system for safety monitoring in manufacturing environments. This method uses OpenPose, a deep learning-based posture estimation model, to estimate the worker's dynamic two-dimensional posture in real-time and reconstruct it into three-dimensional coordinates. The 3D coordinates of the reconstructed multi-domain vision system were aligned using the ICP algorithm and then registered to a single 3D coordinate system. The proposed method showed effective performance in a manufacturing process environment with an average registration error of 0.0664 m and an average frame rate of 14.597 per second.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.2
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• pp.137-148
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• 2004

In this paper, we propose a new camera calibration method for rotating multi-view cameras to generate image-based panoramic 3D Virtual Environment. Since calibration accuracy worsens with an increase in distance between camera and calibration pattern, conventional camera calibration algorithms are not proper for panoramic 3D VE generation. To remedy the problem, a geometric relationship among all lenses of a multi-view camera is used for intra-camera calibration. Another geometric relationship among multiple cameras is used for inter-camera calibration. First camera parameters for all lenses of each multi-view camera we obtained by applying Tsai's algorithm. In intra-camera calibration, the extrinsic parameters are compensated by iteratively reducing discrepancy between estimated and actual distances. Estimated distances are calculated using extrinsic parameters for every lens. Inter-camera calibration arranges multiple cameras in a geometric relationship. It exploits Iterative Closet Point (ICP) algorithm using back-projected 3D point clouds. Finally, by repeatedly applying intra/inter-camera calibration to all lenses of rotating multi-view cameras, we can obtain improved extrinsic parameters at every rotated position for a middle-range distance. Consequently, the proposed method can be applied to stitching of 3D point cloud for panoramic 3D VE generation. Moreover, it may be adopted in various 3D AR applications.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.4
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• pp.345-352
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• 2020

To preserve and restore tidal flats and prevent safety accidents, it is necessary to construct tidal flat topographic information including the exact location and shape of tidal creeks. In the tidal flats where the field surveying is difficult to apply, airborne LiDAR surveying can provide accurate terrain data for a wide area. On the other hand, we can economically obtain relatively high-resolution data from UAV (Unmanned Aerial Vehicle) surveying. In this study, we proposed the methodology to generate high-resolution topographic information of tidal flats effectively by integrating airborne LiDAR and UAV point clouds. For the purpose, automatic ICP (Iterative Closest Points) registration between two different datasets was conducted and tidal creeks were extracted by applying CSF (Cloth Simulation Filtering) algorithm. Then, we integrated high-density UAV data for tidal creeks and airborne LiDAR data for flat grounds. DEM (Digital Elevation Model) and tidal flat area and depth were generated from the integrated data to construct high-resolution topographic information for large-scale tidal flat map creation. As a result, UAV data was registered without GCP (Ground Control Point), and integrated data including detailed topographic information of tidal creeks with a relatively small data size was generated.