• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.13 no.1
• /
• pp.58-63
• /
• 2020

This paper proposes the method for improving the localization accuracy of the mobile robot based on the stereo camera. To restore the position information from stereo images obtained by the stereo camera, the corresponding point which corresponds to one pixel on the left image should be found on the right image. For this, there is the general method to search for corresponding point by calculating the similarity of pixel with pixels on the epipolar line. However, there are some disadvantages because all pixels on the epipolar line should be calculated and the similarity is calculated by only pixel value like RGB color space. To make up for this weak point, this paper implements the method to search for the corresponding point simply by calculating the gap of x-coordinate when the feature points, which are extracted by feature extraction and matched by feature matching method, are a pair and located on the same y-coordinate on the left/right image. In addition, the proposed method tries to preserve the number of feature points as much as possible by finding the corresponding points through the conventional algorithm in case of unmatched features. Because the number of the feature points has effect on the accuracy of the localization. The position of the mobile robot is compensated based on 3-D coordinates of the features which are restored by the feature points and corresponding points. As experimental results, by the proposed method, the number of the feature points are increased for compensating the position and the position of the mobile robot can be compensated more than only feature extraction.

• Journal of Korean Society for Geospatial Information Science
• /
• v.10 no.3 s.21
• /
• pp.71-77
• /
• 2002

DEMs(digital elevation models) are generally used to automatically map the channel network and to delineate subbasins. At present, most DEM data are derived from three alternative sources which are ground survey, pphotogrammetric data capture and digitized cartographic data sources. The accuracy of a DEM is dependent on the spatial resolution, quality of the source data, collection and processing procedures, and digitizing systems. weather conditions and nature environment.etc provide us satellite image of the highest quality. However, Match in error of the auto generation DEM was severely affected by physical and environmental conditions at shooting time. This paper shows that real-time operation analysis of applied hydrology after extracting DEM Using a pair of Kompsat images.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.33 no.4
• /
• pp.325-331
• /
• 2015

This paper suggests an intersection method to improve the accuracy of three-dimensional position from heterogeneous satellite stereo images, and addresses validation of the suggested method following the experimental results. The three-dimensional position is achieved by determining an intersection point of two rays that have been precisely adjusted through the sensor orientation. In case of conventional homogeneous satellite stereo images, the intersection point is generally determined as a mid-point of the shortest line that links two rays in at least square fashion. In this paper, a refined method, which determines the intersection point upon the ray adjusted at the higher resolution image, was used to improve the positioning accuracy of heterogeneous satellite images. Those heterogeneous satellite stereo pairs were constituted using two KOMPSAT-2 and QuickBird images of covering the same area. Also, the positioning results were visually compared in between the conventional intersection and the refined intersection, while the quantitative analysis was performed. The results demonstrated that the potential of refined intersection improved the positioning accuracy of heterogeneous satellite stereo pairs; especially, with a weak geometry of the heterogeneous satellite stereo, the greater effects on the accuracy improvement.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.1C
• /
• pp.55-64
• /
• 2006

In this paper, a new web-based remote 3D imaging communication system employing an adaptive matching algorithm is suggested. In the proposed method, feature values are extracted from the stereo image pair through estimation of the disparity and similarities between each pixel of the stereo image. And then, the matching window size for disparity estimation is adaptively selected depending on the magnitude of this feature value. Finally, the detected disparity map and the left image is transmitted into the client region through the network channel. And then, in the client region, right image is reconstructed and intermediate views be synthesized by a linear combination of the left and right images using interpolation in real-time. From some experiments on web based-transmission in real-time and synthesis of the intermediate views by using two kinds of stereo images of 'Joo' & 'Hoon' captured by real camera, it is analyzed that PSNRs of the intermediate views reconstructed by using the proposed transmission scheme are highly measured by 30dB for 'Joo', 27dB for 'Hoon' and the delay time required to obtain the intermediate image of 4 view is also kept to be very fast value of 67.2ms on average, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.30 no.2
• /
• pp.107-116
• /
• 2012

We investigated the accuracy in three dimensional geo-positioning derived by four high resolution satellite images acquired by two different sensors using the vendor-provided rational polynomial coefficients(RPC) based block adjustment in this research. We used two in-track stereo pairs of GeoEye-1 and WorldView-2 satellite and DGPS surveying data. In this experiment, we analyzed accuracies of RPC block adjustment models of two kinds of homogeneous stereo pairs, four kinds of heterogeneous stereo pairs, three 3 triplet image pairs, and one quadruplet image pair separately. The result shows that the accuracies of the models are nearly same. The accuracy without any GCPs reaches about CEP(90) 2.3m and LEP(90) 2.5m and the accuracy with single GCP is about CEP(90) 0.3m and LEP(90) 0.5m.

• 한국지형공간정보학회:학술대회논문집
• /
• 2004.10a
• /
• pp.33-37
• /
• 2004

고해상 입체 위성영상 엄밀 모델링(Rigorous Modeling)을 구현하고, 이를 기반으로 각 입체시 영상을 제작하여 3차원 정확도 평가를 수행하였다. 본 연구 지역으로 진주지역의 SPOTS 입체영상을 이용하였으며, 각 영상별 기준점 자료는 1/5000 수치지도를 이용하여 입체영상의 중복영역 내에 균등하게 지상기준점 40점을 추출하였다. 추출된 점을 각각 기준점과 검사점으로 구분하여 엄밀 모델링의 정확도를 분석하였다. 또한, 입체시 제작시에 기준점으로 사용된 지상좌표와 이에 대응하는 영상점을 이용하여 입체시 영상을 제작하였다. 제작된 입체시 영상에서 동일점을 획득하기 위해 영상 매칭 및 수치해석도화기(Helava System)를 이용하여 정확한 영상점을 획득하여 3차원 좌표를 계산하여 정확도 평가를 수행하였다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.37 no.6
• /
• pp.473-479
• /
• 2019

This study applied SGM (Semi Global Matching) to generate DSM (Digital Surface Model) using WorldView-1 high-resolution satellite stereo pair in Terrassa, Spain provided by ISPRS (International Society for Photogrammetry and Remote Sensing). The SGM is an image matching algorithm that performs the computation of the matching cost for the stereo pair in multi-paths and aggregates the computed costs sequentially. This method finally calculates the disparity corresponding to the minimum (or maximum) value of the aggregation cost. The cost was applied to MI (Mutual Information), NCC (Normalized Cross-Correlation), and CT (Census Transform) in order to the SGM. The accuracy and performance of the outline representation result in DSM by each cost are presented. Based on the images used and the subject area, the accuracy of the CT cost results was the highest, and the outline representation was also most clearly depicted. In addition, while the SGM method represented more detailed outlines than the existing software, many errors occurred in the water area.

• ETRI Journal
• /
• v.34 no.1
• /
• pp.87-97
• /
• 2012

This study presents an automatic matching method for generating a dense, accurate, and discontinuity-preserved digital surface model (DSM) using multiple images acquired by an aerial digital frame camera. The proposed method consists of two main procedures: area-based multi-image matching (AMIM) and stereo-pair epipolar line matching (SELM). AMIM evaluates the sum of the normalized cross correlation of corresponding image points from multiple images to determine the optimal height of an object point. A novel method is introduced for determining the search height range and incremental height, which are necessary for the vertical line locus used in the AMIM. This procedure also includes the means to select the best reference and target images for each strip so that multi-image matching can resolve the common problem over occlusion areas. The SELM extracts densely positioned distinct points along epipolar lines from the multiple images and generates a discontinuity-preserved DSM using geometric and radiometric constraints. The matched points derived by the AMIM are used as anchor points between overlapped images to find conjugate distinct points using epipolar geometry. The performance of the proposed method was evaluated for several different test areas, including urban areas.

• Applied Microscopy
• /
• v.41 no.1
• /
• pp.69-73
• /
• 2011

High-voltage electron microscope (HVEM) has higher resolution and penetration power than conventional transmission electron microscope that could be load thick specimen. Some researchers have taken this advantage of HVEM to explore 3-dimensional configuration of the biological structures including tissue and cells. Whole mount preparations has been employed to study some cell lines and primary culture cells. In this study, we would like to introduce useful whole mount preparation method for neuronal studies. The plastic coverslips were punched, covered by formvar membrane and coated with carbon. The neurons obtained embryonic 18 rat hippocampus were seeded on the prepared cover slip. The coverslips were fixed, dried in freeze drier and kept in a descicator until HVEM observation. We could observe detailed neuronal structures such as soma, dendrite and spine under HVEM without conventional thin section and heavy metal stain. The anaglyphic image based on stereo paired image ($-8^{\circ},+8^{\circ}$) provides three dimensional perception of the neuronal dendrites and their spines. This method could be applied to sophisticated analysis of dendritic spine under the various experimental conditions.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.1C
• /
• pp.83-91
• /
• 2004

An epipolar rectification is the process of transforming the epipolar geometry of a pair of images into a canonical form. This is accomplished by applying a homography to each image that maps the epipole to a predetermined point. In this process, rectified images transformed by homographies must be satisfied with the epipolar constraint. These homographies are not unique, however, we find out homographies that are suited to system's purpose by means of an additive constraint. Since the rectified image pair be a stereo image pair, we are able to find the disparity efficiently. Therefore, we are able to estimate the three-dimensional information of objects within an image and apply this information to object segmentation. This paper proposes a rectification method for object segmentation and applies the rectification result to the object segmentation. Using color and relative continuity of disparity for the object segmentation, the drawbacks of previous segmentation method, which are that the object is segmented to several region because of having different color information or another object is merged into one because of having similar color information, are complemented. Experimental result shows that the disparity of result image of proposed rectification method have continuity about unique object. Therefore we have confirmed that our rectification method is suitable to the object segmentation.