• Journal of Korea Multimedia Society
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• v.17 no.7
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• pp.818-828
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• 2014

After emerging of Microsoft Kinect, the interest in three-dimensional (3D) depth image was significantly increased. Depth image data of an object can be converted to 3D coordinates by simple arithmetic calculation and then can be reconstructed as a 3D model on computer. However, because the surface coordinates can be acquired only from the front area facing Kinect, total solid which has a closed surface cannot be reconstructed. In this paper, 3D registration method for multiple Kinects was suggested, in which surface information from each Kinect was simultaneously collected and registered in real time to build 3D total solid. To unify relative coordinate system used by each Kinect, 3D perspective transform was adopted. Also, to detect control points which are necessary to generate transformation matrix, 3D randomized Hough transform was used. Once transform matrices were generated, real time 3D reconstruction of various objects was possible. To verify the usefulness of suggested method, human arms were 3D reconstructed and the volumes of them were measured by using four Kinects. This volume measuring system was developed to monitor the level of lymphedema of patients after cancer treatment and the measurement difference with medical CT was lower than 5%, expected CT reconstruction error.

• Journal of KIISE:Computer Systems and Theory
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• v.30 no.7_8
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• pp.397-407
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• 2003

In the past decade, significant effort has been made toward increasing the accuracy and robustness in the three-dimensional scanning methods. In this paper, we introduce a novel laser-stripe, 3D scanning system which was developed to digitize a whole human body. We also suggest a new semi-automatic contour registration method to generate robust contours from the 3D data points acquired by our scanning system. A contour triangulation based surface modoling method was also introduced. Experimental result shows that our system is very robust and efficient for reconstructing overall 3D surface model of a human body.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.3
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• pp.271-280
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• 2004

Assessment of image registration for Pressure Sensitive Paint (PSP) was performed. A 16 bit camera and LED lamp were used with Uni-FIB paint (ISSI). Because of model displacement and deformation at 'wind-on' condition, a large error of the intensity ratio was induced between 'wind-on' and' wind-off images. To correct the error, many kinds of image registrations were tested. At first, control points were marked on the model surface to find the coefficients of polynomial transform functions between the 'wind-off' 'wind-on' images. The 2nd-order polynomial function was sufficient for representing the model displacement and deformation. An automatic detection scheme was introduced to find the exact coordinates of the control points. The present automatic detection algorithm showed more accurate and user-friendly than the manual detection algorithm. Since the coordinates of transformed pixel were not integer, five interpolation methods were applied to get the exact pixel intensity after transforming the 'wind-on' image. Among these methods, the cubic convolution interpolation scheme gave the best result.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.1
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• pp.1-15
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• 2000

To reconstruct 3- D shape, It is a common strategy to acquire multiple range Images from different viewpoints and integrate them into a common coordinates In this paper, we particularly focus on the registration and integration processes for combining all range Images into one surface model. For the registration, we propose the 2-step registration algorithm, which consists of 2 steps the rough registration step using all data points and the fine registration step using the high-curved data points For the integration, we propose a new algorithm, referred to as ‘multi-registration’ technique, to alleviate the error accumulation problem, which occurs during applying the pair-wise registration to each range image sequentially, in order to transform them into a common reference frame Intensive experiments are performed on the various real range data In experiments, all range images were registered within 1 minutes on Pentium 150MHz PC The results show that the proposed algorithms registrate and integrate multiple range Images within a tolerable error bound in a reasonable computation time, and the total error between all range Images are equalized with our proposed algorithms.

• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.265-272
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• 2005

In this paper, we propose a technique which is speedily searching for correspondent points of two images using Voronoi-Distance, as an image registration method for feature based image mosaics. It extracts feature points in two images by the SUSAN corner detector, and then create not only the Voronoi Surface which has distance information among the feature points in the base image using a priority based Voronoi distance algorithm but also select the model area which has the maximum variance value of coordinates of the feature points in the model image. We propose a method for searching for the correspondent points in the Voronoi surface of the base image overlapped with the model area by use of the partitive search algorithm using queues. The feature of the method is that we can rapidly search for the correspondent points between adjacent images using the new Voronoi distance algorithm which has $O(width{\times}height{\times}logN)$ time complexity and the the partitive search algerian using queues which reduces the search range by a fourth at a time.

• Journal of Biomedical Engineering Research
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• v.20 no.2
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• pp.139-148
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• 1999

In this paper, we designed the dental surgery system based on PC. This system predict post operated 3-dimensional image, So the patient has no need to take CT after surgery and expose his body to radiological damage. We predict the post operated skull from the patient's CT with pre and post cephalometry X-ray. Our novel procedures, to register X-ray and CT, are based on anatomical landmarks, singular value decomposition. And we display the predicted image 3-dimensionally by surface rendering. We verified this system by dry skull experiment and clinical experiment. When significance level is 0.05, there is on significance.

• Journal of Computational Design and Engineering
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• v.1 no.3
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• pp.202-212
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• 2014

To survive in the current shipbuilding industry, it is of vital importance for shipyards to have the ship components' accuracy evaluated efficiently during most of the manufacturing steps. Evaluating components' accuracy by comparing each component's point cloud data scanned by laser scanners and the ship's design data formatted in CAD cannot be processed efficiently when (1) extract components from point cloud data include irregular obstacles endogenously, or when (2) registration of the two data sets have no clear direction setting. This paper presents reformative point cloud data processing methods to solve these problems. K-d tree construction of the point cloud data fastens a neighbor searching of each point. Region growing method performed on the neighbor points of the seed point extracts the continuous part of the component, while curved surface fitting and B-spline curved line fitting at the edge of the continuous part recognize the neighbor domains of the same component divided by obstacles' shadows. The ICP (Iterative Closest Point) algorithm conducts a registration of the two sets of data after the proper registration's direction is decided by principal component analysis. By experiments conducted at the shipyard, 200 curved shell plates are extracted from the scanned point cloud data, and registrations are conducted between them and the designed CAD data using the proposed methods for an accuracy evaluation. Results show that the methods proposed in this paper support the accuracy evaluation targeted point cloud data processing efficiently in practice.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.5
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• pp.485-491
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• 2008

LiDAR systems are usually incorporated a laser scanner and GPS/INS modules with a digital aerial camera. LiDAR point clouds and digital aerial images acquired by the systems provide complementary spatial information on the ground. In addition, some of laser scanners provide intensity, radiometric information on the surface of the earth. Since the intensity is unnecessary of registration and provides the radiometric information at a certain wavelength on the location of LiDAR point, it can be a valuable ancillary information but it does not deliver sufficient radiometric information compared with digital images. This study utilize the LiDAR points as ground control points (GCPs) to adjust exterior orientations(EOs) of the stereo images. It is difficult to find exact point of LiDAR corresponding to conjugate points in stereo images, but this study used intensity of LiDAR as an ancillary data to find the GCPs. The LiDAR points were successfully used to adjust EOs of stereo aerial images, therefore, successfully provided the prerequisite for the precise registration of the two data sets from the LiDAR systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.142-145
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• 2004

More complex geometric shapes, including freeform surfaces, are adopted for the design of products to emphasize styling or aesthetics. Modeling of these products is extremely difficult, and often impossible. Reverse engineering is an emerging technology that can resolve this problem by generating CAD models from the physical mockups or prototype models. The laser scanner if often used to acquire the surface information of the part, but is limited in its measuring direction, which if fixed only along the z-axis. A Designed fixture of new shape to supplement these problems in this paper. The new fixture using several joints and an tooling ball holder is designed considering the convenience of the part set-up and the accuracy of the registration. The location of the tooling balls can be arranged to avoid the occlusion of the part and to minimize the registration error. The new fixture is apply to an object part having freeform surfaces to verify the effectiveness of the proposed design.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.238-244
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• 2021

Image mosaicking is a common and useful technique to visualize a global map by stitching a large number of local images obtained from visual surveys in underwater environments. In particular, visual inspection of underwater structures using underwater robots can be a potential application for image mosaicking. Feature-based pairwise image registration is a commonly employed process in most image mosaicking algorithms to estimate visual odometry information between compared images. However, visual features are not always uniformly distributed on the surface of underwater structures, and thus the performance of image registration can vary significantly, which results in unnecessary computations in image matching for poor-conditioned image pairs. This study proposes a pairwise registrability measure to select informative image pairs and to improve the overall computational efficiency of underwater image mosaicking algorithms. The validity and effectiveness of the image mosaicking algorithm considering the pairwise registrability are demonstrated using an experimental dataset obtained with a full-scale ship in a real sea environment.