• Journal of Korea Multimedia Society
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• v.22 no.4
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• pp.417-423
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• 2019

This paper presents an evaluation system to determine the completeness of a space map obtained by a visual SLAM(Simultaneous Localization And Mapping) algorithm. The proposed system consists of three parts. First, the proposed system detects the occurrence of loop closing to confirm that users acquired the information from all directions. Thereafter, the acquired map is divided with regular intervals and is verified whether each area has enough map points to successfully estimate users' position. Finally, to check the effectiveness of each map point, the system checks whether the map points are identifiable even at the location where there is a large distance difference from the acquisition position. Experimental results show that space maps whose completeness is proven by the proposed system has higher stability and accuracy in terms of position estimation than other maps that are not proven.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.899-905
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• 2003

An intermediate images generation method using multi-resolution based hierarchical block matching disparity map is proposed. This method is composed of a disparity estimation, an occlusion detection and intermediate image synthesis. For the disparity estimation, which is one of the important processes in intermediate image synthesis, we use the multi-resolution based hierarchical block matching algorithm to overcome the imperfect ness of block matching algorithm. The proposed method makes disparity maps more accurate and dense by multi-resolution based hierarchical block matching, and the estimated disparity maps are used to generate intermediate images of stereo images. Generated intermediate images show 0.1∼1.4 ㏈ higher PSNR than the images obtained by block matching algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.709-712
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• 1987

In this paper, a mathematical model for the purpose of QRS detection is considered in the case of the occurrence of nonoverlapping pulse-shaped waveforms corrupted with white noise. The number of waveforms, the arrival times, amplitudes, and widths of QRS complexes are regarded as random variables. The joint MAP estimation of all the unknown quantities consists of linear filtering followed by an optimization procedure. Because of time-consuming, the optimization procedure is modified so that a threshold test is obtained. The model formulation with nonoverlapping waveforms leads to a standard procedure covering a segment before as well as after an accepted event. Adaptivity of the detector is gained by utilizing past signal properties in determining threshold for QRS detection.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.333-336
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• 2007

SELENE, a Japanese lunar mission, has been launched this year. There are large volumes of images that were already archived and will be archived by missions such as SELENE. Automatic image analysis systems, which extract useful information from large amounts of data, are now required. The authors propose Lunar Surface GIS, which archives lunar surface information collected by lunar orbiting spacecraft and conducts geological analysis automatically. This system includes automatic crater detection, automatic age determination, and lava thickness estimation methods. In this paper, methods for automatically determining the age and estimating the lava thickness of lunar mare are described. The lunar surface age was determined by analyzing data of detected crater size and number using a crater chronology method. Lava thickness was estimated by the extent of the overlying material around the crater as well as the composition of underlying terrain units. In this result, the age map at Mare Crisium suggests the mare had been formed 3.0-3.7 b.y. ago. The lava thickness result suggests the thickest part of the mare is distributed around the center of the mare. The Lunar Surface GIS can produce a geological map, age map, and mare lava thickness map, for example.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1997.06a
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• pp.131-136
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• 1997

We present a method to estimate a dense and sharp depth map using multiple cameras for the application to flexible video production. A key issue for obtaining sharp depth map is how to overcome the harmful influence of occlusion. Thus, we first propose to selectively use the depth information from multiple cameras. With a simple sort and discard technique, we resolve the occlusion problem considerably at a slight sacrifice of noise tolerance. However, boundary overreach of more textured area to less textured area at object boundaries still remains to be solved. We observed that the amount of boundary overreach is less than half the size of the matching window and, unlike usual stereo matching, the boundary overreach with the proposed occlusion-overcoming method shows very abrupt transition. Based on these observations, we propose a hierarchical estimation scheme that attempts to reduce boundary overreach such that edges of the depth map coincide with object boundaries on the one hand, and to reduce noisy estimates due to insufficient size of matching window on the other hand. We show the hierarchical method can produce a sharp depth map for a variety of images.

• Proceedings of the Korean Information Science Society Conference
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• 2007.10c
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• pp.510-515
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• 2007

2차원 영상으로부터 3차원 정보를 획득하기 위해서는 disparity map의 정확한 계산이 요구된다. Disparity map을 구하기 위한 기존의 알고리즘은 크게 상관도 기반 방법과 특징 기반 방법으로 분류되는데, 본 논문에서는 이들 각 방법에 대한 분석을 통해서 좀 더 정확한 disparity map을 구하는 방법을 모색한다. 이를 위해 스테레오 카메라로부터 획득된 2차원 영상에서 건물에 대한 깊이 정보 추출을 위해 SIFT 기법을 이용한 disparity map 생성 알고리즘을 제안한다. 제안된 기법은 수정된 MAD인 MMAD(Modified Mean of Absolute Differences) 알고리즘을 새로 제안하여 영역 기반의 유사도 측정을 기반으로 하면서 특징 기반 방법의 하나인 SIFT를 적용하여 거짓 정합(false matching)에 의한 에러를 줄이고 폐색(occlusion) 영역에 대한 오류를 보정한 disparity map을 생성하는데 초점을 둔다.

• 한국지형공간정보학회:학술대회논문집
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• 2005.08a
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• pp.61-72
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• 2005

The landslide risk assessment process consists of hazard risk assessment and vulnerability analysis. landslide hazard risk is location dependent. Therefore, maps and spatial technologies such as GIS are very important components of the risk assessment process. This paper discusses the advantages of using GIS technology in the risk assessment process and illustrates the benefits through case studies of live projects undertaken. The goal of this study is to generate a map of landslide vulnerability map by analysis of static natural factors with GIS. A simple and efficient algorithm is proposed to generate a landslide potentialities map from DEM and existing maps. The categories of controlling factors for landslides, aspect of slope, soil, vegetation are defined. The weight values for landslide potentialities are calculated from AHP method. Slope and slope-direction are extracted from DEM, and soil informations are extracted from digital soil map. Also, vegetation informations are extracted from digital vegetation map. Finally, as overlaying, landslide potentialities map is made out, and it is verified with landslide place.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.16-22
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• 2024

Robotic grasping in unstructured environments poses a significant challenge, demanding precise estimation of gripping positions for diverse and unknown objects. Generative Grasping Convolution Neural Network (GG-CNN) can estimate the position and direction that can be gripped by a robot gripper for an unknown object based on a three-dimensional depth map. Since GG-CNN uses only a depth map as an input, the precision of the depth map is the most critical factor affecting the result. To address the challenge of depth map precision, we integrate the Segment Anything Model renowned for its robust zero-shot performance across various segmentation tasks. We adjust the components corresponding to the segmented areas in the depth map aligned through external calibration. The proposed method was validated on the Cornell dataset and SurgicalKit dataset. Quantitative analysis compared to existing methods showed a 49.8% improvement with the dataset including surgical instruments. The results highlight the practical importance of our approach, especially in scenarios involving thin and metallic objects.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.12
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• pp.2343-2352
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• 2015

In this paper, we propose novel motion field estimation method using U-disparity map and forward-backward error removal in vehicles environment. Generally, in an image obtained from a camera attached in a vehicle, a motion vector occurs according to the movement of the vehicle. but this motion vector is less accurate by effect of surrounding environment. In particular, it is difficult to extract an accurate motion vector because of adjacent pixels which are similar each other on the road surface. Therefore, proposed method removes road surface by using U-disparity map and performs optical flow about remaining portion. forward-backward error removal method is used to improve the accuracy of the motion vector. Finally, we predict motion of the vehicle by applying RANSAC(RANdom SAmple Consensus) from acquired motion vector and then generate motion field. Through experimental results, we show that the proposed algorithm performs better than old schemes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.607-610
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• 2005

A remeshing algorithm using tetrahedral elements has been developed, which is adapted to the mesh density map constructed by a posteriori error estimation. In the finite element analyses of metal forging processes, numerical error increases as deformation proceeds due to severe distortion of elements. In order to reduce the numerical error, the desired mesh sizes in each region of the workpiece are calculated by a posteriori error estimation and the density map is constructed. Piecewise density functions are then constructed with the radial basis function in order to interpolate the discrete data of the density map. The sample mesh is constructed based on the point insertion technique which is adapted to the density function and the mesh size is controlled by moving and deleting nodes to obtain optimal distribution according to the mesh density function and the quality optimization function as well. After finishing the redistribution process of nodes, a tetrahedral mesh is constructed with the redistributed nodes, which is adapted to the density map and resulting in good mesh quality. A goodness and adaptability of the constructed mesh is verified with a testing measure. The proposed remeshing technique is applied to the finite element analyses of forging processes.