• Proceedings of the Korea Information Processing Society Conference
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• 2016.10a
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• pp.632-635
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• 2016

증강현실에서 영상과 증강된 콘텐츠 간의 이질감을 줄이기 위해서 정확한 호모그래피 행렬을 추정해야 하며, 정확한 호모그래피 행렬을 추정할때 RANSAC 알고리즘이 널리 사용된다. 그러나 RANSAC 알고리즘은 랜덤 샘플링 과정을 반복적으로 거치기 때문에 불필요한 연산 과정이 발생하고 이로 인해 알고리즘의 효율이 저하된다. 이러한 단점을 극복하기 위해 DCS-RANSAC 알고리즘이 제안되었다. 제안된 DCS-RANSAC 알고리즘은 이미지를 특징점 분포 패턴에 따라 그룹으로 분류하고 각 그룹에 제약조건 문제를 적용하여 불필요한 연산 과정을 줄이고 정확도를 향상시킨 알고리즘이다. 그러나 DCS-RANSAC 알고리즘에서 사용된 이미지 그룹 데이터는 수동적인 방법을 통해 직관적으로 분류되어 있지만 특징점 분포 패턴이 다양하지 않아 분류시 정확도가 저하되는 경우가 있다. 위의 문제점을 해결하기 위해 본 논문에서는 머신러닝 기법을 통해 이미지들을 자동으로 분류하고 각 그룹마다 각기 다른 제약조건을 적용하는 MCS-RANSAC 알고리즘을 제안한다. 제안하는 알고리즘은 머신러닝 기법을 사용하여 전처리 단계에서 이미지를 분류하고 분류된 이미지에 제약조건을 적용시켜 알고리즘의 처리시간을 줄이고 정확도를 향상시켰다. 실험 결과 본 논문에서 제안하는 MCS-RANSAC은 DCS-RANSAC 알고리즘에 비해 수행시간이 약 6% 단축되었고 호모그래피 오차율은 약 15% 줄어들었으며 참정보 비율은 2.8% 증가한 것으로 확인되었다.

• KIPS Transactions on Software and Data Engineering
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• v.5 no.6
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• pp.307-312
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• 2016

Markerless tracking for augmented reality using Homography can augment virtual objects correctly and naturally on live view of real-world environment by using correct pose and direction of camera. The RANSAC algorithm is widely used for estimating Homography. CS-RANSAC algorithm is one of the novel algorithm which cooperates a constraint satisfaction problem(CSP) into RANSAC algorithm for increasing accuracy and decreasing processing time. However, CS-RANSAC algorithm can be degraded performance of calculating Homography that is caused by selecting feature points which estimate low accuracy Homography in the sampling step. In this paper, we propose feature point filtering method based on CS-RANSAC for efficient planar Homography estimating the proposed algorithm evaluate which feature points estimate high accuracy Homography for removing unnecessary feature point from the next sampling step using Symmetric Transfer Error to increase accuracy and decrease processing time. To evaluate our proposed method we have compared our algorithm with the bagic CS-RANSAC algorithm, and basic RANSAC algorithm in terms of processing time, error rate(Symmetric Transfer Error), and inlier rate. The experiment shows that the proposed method produces 5% decrease in processing time, 14% decrease in Symmetric Transfer Error, and higher accurate homography by comparing the basic CS-RANSAC algorithm.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1451-1454
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• 2015

RANSAC 알고리즘은 컴퓨터 비전 분야에서 호모그래피 행렬을 추정하는데 많이 사용되고 있다. CS-RANSAC 알고리즘은 RANSAC 알고리즘에 제약조건을 설정하여 정확도를 높인 알고리즘이지만 샘플링 단계에서 정확한 호모그래피를 추정하는데 불필요한 특징점을 선택하여 알고리즘의 효율성을 저하시키는 경우가 있다. 따라서 본 논문에서는 Symmetric Transfer Error로 특징점이 참정보인지 평가하고 불필요한 특징점을 필터링하여 CS-RANSAC 알고리즘의 속도와 정확도를 증가시키는 방법을 제안한다. 실험은 제안하는 알고리즘의 수행시간과 오차율을 비교하였고, 실험 결과 본 논문에서 제안한 방법이 기존 CS-RANSAC 알고리즘보다 수행시간이 평균적으로 약 5% 단축되었고 정확도는 약 14% 향상 되었다.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.6
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• pp.315-320
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• 2017

Estimating the correct pose of augmented objects on the real camera view efficiently is one of the most important questions in image tracking area. In computer vision, Homography is used for camera pose estimation in augmented reality system with markerless. To estimating Homography, several algorithm like SURF features which extracted from images are used. Based on extracted features, Homography is estimated. For this purpose, RANSAC algorithm is well used to estimate homography and DCS-RANSAC algorithm is researched which apply constraints dynamically based on Constraint Satisfaction Problem to improve performance. In DCS-RANSAC, however, the dataset is based on pattern of feature distribution of images manually, so this algorithm cannot classify the input image, pattern of feature distribution is not recognized in DCS-RANSAC algorithm, which lead to reduce it's performance. To improve this problem, we suggest the KCS-RANSAC algorithm using K-means clustering in CS-RANSAC to cluster the images automatically based on pattern of feature distribution and apply constraints to each image groups. The suggested algorithm cluster the images automatically and apply the constraints to each clustered image groups. The experiment result shows that our KCS-RANSAC algorithm outperformed the DCS-RANSAC algorithm in terms of speed, accuracy, and inlier rate.

• The Journal of the Korea Contents Association
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• v.10 no.7
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• pp.10-22
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• 2010

This study proposes a new method of multiple homographies estimation between two images. With a large proportion of outliers, RANSAC is a general and very successful robust parameter estimator. However it is limited by the assumption that a single model acounts for all of the data inliers. Therefore, it has been suggested to sequentially apply RANSAC to estimate multiple 2D projective transformations. In this case, because outliers stay in the correspondence data set through the estimation process sequentially, it tends to progress slowly for all models. And, it is difficult to parallelize the sequential process due to the estimation order by the number of inliers for each model. We introduce a guided sequential RANSAC algorithm, using the local model instances that have been obtained from RANSAC procedure, which is able to reduce the number of random samples and deal simultaneously with multiple models.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06b
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• pp.318-320
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• 2012

증강현실 콘텐츠를 2D 이미지기반으로 저작할 때, 작성된 증강현실 콘텐츠를 카메라 시점과 일치시켜 합성하기 위해 호모그래피를 이용한다. 이때 증강현실 콘텐츠를 이질감 없이 합성하기위해 정확한 호모그래피 행렬을 추정해야 한다. 그러나 호모그래피 행렬 추정 시 사용되는 특징점들이 선형을 이루거나, 특정 영역에 군집을 이루는 경우 정확한 호모그래피 행렬을 추정하지 못하는 문제가 발생한다. 본 논문에서는 이러한 문제를 해결하기 위해 선형제약, 거리제약을 적용한 CSP 기반의 RANSAC 알고리즘을 제안한다. 실험결과 호모그래피 행렬 추정 시 CSP를 적용한 RANSAC 알고리즘이 기존의 랜덤샘플링 또는 삼각형의 넓이를 이용한 샘플링을 적용한 RANSAC 알고리즘보다 정확도가 향상됨을 보였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.4
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• pp.388-393
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• 2019

As a fiiting method to data with outliers, RANSAC(RANdom SAmple Consensus) based algorithm is widely used in fitting of line, circle, ellipse, etc. CUDA is currently most widely used GPU with massive parallel processing capability. This paper proposes an efficient CUDA implementation of multiple planes fitting using RANSAC with 3d points data, of which one set of 3d points is used for one plane fitting. The performance of the proposed algorithm is demonstrated compared with CPU implementation using both artificially generated data and real 3d heights data of a PCB. The speed-up of the algorithm over CPU seems to be higher in data with lower inlier ratio, more planes to fit, and more points per plane fitting. This method can be easily applied to a wide variety of other fitting applications.

• KIPS Transactions on Software and Data Engineering
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• v.7 no.1
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• pp.9-18
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• 2018

Recently, the use of image stitching technology has been increasing as the number of contents based on virtual reality increases. Image Stitching is a method for matching multiple images to produce a high resolution image and a wide field of view image. The image stitching is used in various fields beyond the limitation of images generated from one camera. Image Stitching detects feature points and corresponding points to match multiple images, and calculates the homography among images using the RANSAC algorithm. Generally, corresponding points are needed for calculating conversion relation. However, the corresponding points include various types of noise that can be caused by false assumptions or errors about the conversion relationship. This noise is an obstacle to accurately predict the conversion relation. Therefore, RANSAC algorithm is used to construct an accurate conversion relationship from the outliers that interfere with the prediction of the model parameters because matching methods can usually occur incorrect correspondence points. In this paper, we propose an algorithm that extracts more accurate inliers and computes accurate transformation relations by using correspondence point relation information used in RANSAC algorithm. The correspondence point relation information uses distance ratio between corresponding points used in image matching. This paper aims to reduce the processing time while maintaining the same performance as RANSAC.

• Journal of KIISE:Software and Applications
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• v.33 no.2
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• pp.252-266
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• 2006

Many problems in computer vision are mainly based on mathematical models. Their optimal solutions can be found by estimating the parameters of each model. However, provided an input data set is involved outliers which are relative]V larger than normal noises, they lead to incorrect results. RANSAC is a representative robust algorithm which is used to resolve the problem. One major problem with RANSAC is that it needs priori knowledge(i.e. a percentage of outliers) of the distribution of data. To solve this problem, we propose a FRANSAC algorithm which improves the rejection rate of outliers and the accuracy of solutions. This is peformed by categorizing all data into good sample set, bad sample set and vague sample set using a fuzzy classification at each iteration and sampling in only good sample set. In the experimental results, we show that the performance of the proposed algorithm when it is applied to the linear regression and the calculation of a homography.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.427-429
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• 2017

본 논문에서는 실시간으로 주행 중인 차량의 영상을 대상으로 ROI 영역을 추출하고 추출된 ROI 영역에 Warping 기법과 RANSAC 알고리즘을 적용하여 곡선 차선을 검출하는 방법을 제안한다. 제안된 방법은 실시간 영상에서 관심 영역을 ROI 영역으로 설정하고 영상의 원근감을 제거하기 위하여 Warping을 적용한다. Warping이 적용된 영상에서 차선의 밝기는 도로의 밝기보다 높다는 특징을 이용하여 노란색과 흰색 차선의 영역을 추출한다. 추출된 차선의 영역에서 곡선을 검출하기 위하여 RANSAC 알고리즘을 적용하여 곡선을 검출하기 위한 기준점을 설정한 후, 스플라인 기법을 적용하여 곡선을 검출한다. 실시간적으로 주행 중인 차량에서 촬영한 동영상을 대상으로 실험한 결과, 곡선 차선이 효과적으로 검출되었다. 따라서 제안된 방법이 자율 주행에 효율적으로 적용될 수 있는 가능성을 확인하였다.