• Journal of information and communication convergence engineering
• /
• 제12권2호
• /
• pp.128-134
• /
• 2014

In this paper, we present a graphics processing unit (GPU)-based matching technique for the purpose of fast feature matching between different images. The scale invariant feature transform algorithm developed by Lowe for various feature matching applications, such as stereo vision and object recognition, is computationally intensive. To address this problem, we propose a matching technique optimized for GPUs to perform computations in less time. We optimize GPUs for fast computation of keypoints to make our system quick and efficient. The proposed method uses a self-organizing map feature matching technique to perform efficient matching between the different images. The experiments are performed on various image sets to examine the performance of the system under varying conditions, such as image rotation, scaling, and blurring. The experimental results show that the proposed algorithm outperforms the existing feature matching methods, resulting in fast feature matching due to the optimization of the GPU.

• 제어로봇시스템학회논문지
• /
• 제9권11호
• /
• pp.899-905
• /
• 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.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1994년도 하계학술대회 논문집 C
• /
• pp.1406-1408
• /
• 1994

In recently, there is growing demand for microwave absorbing matrial, and for the design method of microwave absorber. We developed a new method to design the matching frequency and matrial thick for ferrite/rubber composite absorber. Ni-Zn ferrite prepared with coprecipitation was compounded with silicon rubber, and, subsequently, pressed to ring specimen. The matrial constant of the ferrite/rubber composite absorber was used to design the matching frequency and matrial thick with matching map. In this study, we could predict matching condition from the design method. Foremore, using matching boundary map, we could also predict the condition of over 20[dB] attenuation.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.330-334
• /
• 2001

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms.

• 제어로봇시스템학회논문지
• /
• 제15권2호
• /
• pp.203-210
• /
• 2009

The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.

• 한국정밀공학회지
• /
• 제19권5호
• /
• pp.36-42
• /
• 2002

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms. Several occupancy grid maps based on stereo vision using the proposed algorithm have been built and compared with the actual distance information to verify the validity of the proposed method.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 1999년도 춘계학술대회 논문집
• /
• pp.247-250
• /
• 1999

In this study, three kinds of Mn-Zn ferrite/Ni-Zn ferrite/$Ni_2Y$ ferroxplana prepared by the coprecipitation method was compounded with silicon rubber, and thereafter made ring-type specimens with various compositional ratio. The material constant of ferrite/rubber composite absorbers was obtaibed by the 2-port method. The material constants of the ferrite/rubber composite absorber with various compositional ratio of three kinds of ferrite were used to design the matching frequency and thickness with the impedance matching map. We were able to predict the matching condition from the design method.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2010년 춘계학술발표회 논문집
• /
• pp.3-4
• /
• 2010

Map integration usually involves matching the common spatial objects in different datasets. There have been recent studies on object matching using relative location as defined by spatial relationships between the object and its neighbor landmark. Therefore the landmark selection process is an important part of map integration using relative location. In this research, we describe an approach to determine landmarks automatically in different geospatial datasets.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 하계학술대회 논문집 D
• /
• pp.3044-3046
• /
• 2000

A Stereo matching has been an important tool for reconstructing three dimensional terrain. In this stereo matching process, DEM(Digitai Elevation Map) can be generated by the disparity from reference image to target image. Generally disparity map in matching process can be implemented by wraping from reference image to target image and if the role of reference and target is interchanged, the different DEM can be obtained. To evaluate the generated DEM from matching process, We adapted the Photorealistic synthetic image generator using ray tracing technique. The generator produce two simulated image from previous DEM and Ortho-image which is regard as Ground-truth. In this paper, we are concern about estimating more accurate DEM from these two DEMs. The several fusion methods of two DEMs are proposed to generate accurate DEM and compared with previous method. one of fusion methods is by using Cross-Correlation match score and the true DEM should have a high matching score.

• 제어로봇시스템학회논문지
• /
• 제20권11호
• /
• pp.1170-1174
• /
• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.