• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.483-489
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• 2015

In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the large-scale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1205-1211
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• 2008

This paper describes methods to estimate 3-D position of target with respect to reference frame through monocular image from unmanned aerial vehicle (UAV). 3-D position of target is used as information for surveillance, recognition and attack. In this paper. 3-D position of target is estimated to make guidance and control law, which can follow target, user interested. It is necessary that position of target is measured in image to solve 3-D position of target. In this paper, kalman filter is used to track and output position of target in image. Estimation of target's 3-D position is possible using result of image tracking and information of UAV and camera. To estimate this, two algorithms are used. One is methode from arithmetic derivation of dynamics between UAV, carmer, and target. The other is LPV (Linear Parametric Varying). These methods have been run on simulation, and compared in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.78-86
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• 2014

This paper proposes a method of tracking an object for a person-following mobile robot by combining a monocular camera and a laser scanner, where each sensor can supplement the weaknesses of the other sensor. For human-robot interaction, a mobile robot needs to maintain a distance between a moving person and itself. Maintaining distance consists of two parts: object tracking and person-following. Object tracking consists of particle filtering and online learning using shape features which are extracted from an image. A monocular camera easily fails to track a person due to a narrow field-of-view and influence of illumination changes, and has therefore been used together with a laser scanner. After constructing the geometric relation between the differently oriented sensors, the proposed method demonstrates its robustness in tracking and following a person with a success rate of 94.7% in indoor environments with varying lighting conditions and even when a moving object is located between the robot and the person.

• Journal of Yeungnam Medical Science
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• v.24 no.2
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• pp.329-332
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• 2007

Solar retinopathy is a rare but well-recognized clinical entity of macular damage, caused by viewing a solar eclipse or direct sun gazing. A 21-year-old man gazed at the sun for approximately thirty seconds at noon using a monocular telescope with his left eye. Forty-eight hours after sun gazing, the patient experienced symptoms of blurred vision and central scotoma in the left eye. Eight months after sun gazing, the visual acuity decreased from 1.0 to 0.1 in the left eye and the fundus examination showed a round, yellowish-white discoid lesion at the left fovea. Fluorescein angiography showed an early window defect in the fovea of the left eye, that persisted without size change during the late phase resulting from atrophy of the retinal pigment epithelium. A small, central scotoma of the left eye was also found in the visual field test. The visual acuity was unchanged at the end of a one-year follow-up period.

• Journal of Physiology & Pathology in Korean Medicine
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• v.24 no.2
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• pp.333-337
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• 2010

A 51-year-old man developed diplopia while driving. The brain CT film demonstrated a hemorrhage in the left midbrain and thalamus. On our first diagnosis after 8 days from onset, partial ptosis and limitation of adduction in the left eye were detected. We evaluated that the patinet's digestive system was weak, so that treated the patient with Bojungikki-tang and Sa-am acupuncture Bi-Jung-Geouk(脾正格). As a result, limitation of adduction was recovered to about 90% of normal range and Ptosis was recovered just likely with the normal eye.

• Smart Structures and Systems
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• v.6 no.9
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• pp.1025-1039
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• 2010

Measuring displacement response for civil structures is very important for assessing their performance, safety and integrity. Recently, video-based techniques that utilize low-cost high-resolution digital cameras have been developed for such an application. These techniques however have relatively low sampling frequency and the results are usually contaminated with noises. In this study, an integrated visual-inertial measurement method that combines a monocular videogrammetric displacement measurement technique and a collocated accelerometer is proposed for displacement and velocity measurement of civil engineering structures. The monocular videogrammetric technique extracts three-dimensional translation and rotation of a planar target from an image sequence recorded by one camera. The obtained displacement is then fused with acceleration measured from a collocated accelerometer using a multi-rate Kalman filter with smoothing technique. This data fusion not only can improve the accuracy and the frequency bandwidth of displacement measurement but also provide estimate for velocity. The proposed measurement technique is illustrated by a shake table test and a pedestrian bridge test. Results show that the fusion of displacement and acceleration can mitigate their respective limitations and produce more accurate displacement and velocity responses with a broader frequency bandwidth.

• ETRI Journal
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• v.36 no.4
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• pp.662-672
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• 2014

Human action recognition is used in areas such as surveillance, entertainment, and healthcare. This paper proposes a system to recognize both single and continuous human actions from monocular video sequences, based on 3D human modeling and cyclic hidden Markov models (CHMMs). First, for each frame in a monocular video sequence, the 3D coordinates of joints belonging to a human object, through actions of multiple cycles, are extracted using 3D human modeling techniques. The 3D coordinates are then converted into a set of geometrical relational features (GRFs) for dimensionality reduction and discrimination increase. For further dimensionality reduction, k-means clustering is applied to the GRFs to generate clustered feature vectors. These vectors are used to train CHMMs separately for different types of actions, based on the Baum-Welch re-estimation algorithm. For recognition of continuous actions that are concatenated from several distinct types of actions, a designed graphical model is used to systematically concatenate different separately trained CHMMs. The experimental results show the effective performance of our proposed system in both single and continuous action recognition problems.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.1
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• pp.52-54
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• 2015

In this paper we propose a new background motion compensation method which can be applicable to moving object detection with a moving monocular camera. To estimate the background motion, a series of image warpings are carried out for each pair of the corresponding patches, defined by the fixed-size lattice, based on the motion information extracted from the feature points surrounded by the patches and the estimated camera motion. Experiment results proved that the proposed has approximately 50% faster in execution time and 8dB higher in PSNR comparing to a conventional method.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.6
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• pp.99-104
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• 2021

The technology of estimating a movement trajectory using a monocular camera such as a smartphone and composing a surrounding 3D image is key not only in indoor positioning but also in the metaverse service. The most important thing in this technique is to estimate the coordinates of the moving camera center. In this paper, a new algorithm for geometrically estimating the moving distance is proposed. The coordinates of the 3D object point are obtained from the first and second photos, and the movement distance vector is obtained using the matching feature points of the first and third photos. Then, while moving the coordinates of the origin of the third camera, a position where the 3D object point and the feature point of the third picture coincide is obtained. Its possibility and accuracy were verified by applying it to actual continuous image data.

• Journal of Cerebrovascular and Endovascular Neurosurgery
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• v.20 no.4
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• pp.241-247
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• 2018

Treatment of paraclinoid aneurysms weather by surgery, or endovascular embolization has a risk of visual loss due to optic neuropathy, or diplopia due to cranial nerve palsies. Visual complications occur immediately after the clipping, whereas they can occur variable time after endovascular coiling. Recently, endovascular coiling for paraclinoid aneurysm is regarded as a safe and feasible treatment. But it still has risks of acute thromboembolic complication, or cranial nerve palsies. A 45-year-old woman was referred from local hospital to our hospital due to ruptured large ICA dorsal wall aneurysm. A total of 12 coils (195 cm) were used for obliteration of aneurysm. Postoperative diffusion weighted image showed no abnormal signal intensity lesion and magnetic resonance angiography demonstrated no sign of vasospasm, or vessel narrowing. But, she complained visual problem 23 days after coil embolization. Ophthalmologist confirmed the left optic disc atrophy on fundoscopy. Although steroid was started, but monocular blindness did not recover completely. The endovascular embolization of paraclinoid aneurysm, especially projecting superiorly with large irregular shape, has the risk of progressive visual loss because of the proximity to optic nerve.