• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.317-318
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• 2006

There are lot of noises and errors in depth map image which is gotten by using a stereo camera. These errors are caused by mismatching of the corresponding points which occur in texture-less region of input images of stereo camera or occlusions. In this paper, we use a method which is able to get rid of the noises through post processing and reduce the errors of disparity values which are caused by the mismatching in the texture-less region of input images through the correlation between the depth map images and the input images. Then we propose a novel method which segments the object by using the improved disparity map images and projections.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2022.11a
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• pp.99-102
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• 2022

실재하는 물체나 장소를 디지털 카메라나 휴대폰 카메라로 여러 장 촬영하여 얻은 2차원 이미지 데이터셋으로부터 3차원 영상을 얻기 위해서 이미지를 이루는 각 pixel의 depth 정보를 얻는 것은 필수적인 과정이다. 주어진 이미지에서 depth 정보를 얻기 위해 Shuhan Shen은 PatchMatch 알고리즘을 활용하는 것을 제안하였다. 그 이후 PatchMatch 기반의 알고리즘은 널리 사용되며 우수한 성능을 보이고 있다. PatchMatch 기반의 알고리즘을 사용해 depth를 추정하는 과정에서 depth와 법선 벡터를 Zero-mean Normalized Cross Correlation(ZNCC)를 사용해 평가한다. 하지만, ZNCC는 depth를 평가하려는 pixel의 주변 pixel들의 밝기 값 혹은 색상 값의 분포를 사용하기 때문에 밝기 값이나 색상 값의 변화가 적은 texture-less region에서는 신뢰성이 떨어진다. 본 논문에서는 이 문제를 epipolar geometry를 활용한 기하학적 정보를 이용하여 개선하고자 한다.

• 한국도로학회:학술대회논문집
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• 2010.03a
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• pp.273-280
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• 2010

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.314-321
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• 2022

Depth information used in SLAM and visual odometry is essential in robotics. Depth information often obtained from sensors or learned by networks. While learning-based methods have gained popularity, they are mostly limited to RGB images. However, the limitation of RGB images occurs in visually derailed environments. Thermal cameras are in the spotlight as a way to solve these problems. Unlike RGB images, thermal images reliably perceive the environment regardless of the illumination variance but show lacking contrast and texture. This low contrast in the thermal image prohibits an algorithm from effectively learning the underlying scene details. To tackle these challenges, we propose multi-channel remapping for contrast. Our method allows a learning-based depth prediction model to have an accurate depth prediction even in low light conditions. We validate the feasibility and show that our multi-channel remapping method outperforms the existing methods both visually and quantitatively over our dataset.

• Journal of Broadcast Engineering
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• v.21 no.6
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• pp.957-964
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• 2016

Acquisition of reliable depth maps is a critical requirement in many applications such as 3D videos and free-viewpoint TV. Depth information can be obtained from the object directly using physical sensors, such as infrared ray (IR) sensors. Recently, Time-of-Flight (ToF) range camera including KINECT depth camera became popular alternatives for dense depth sensing. Although ToF cameras can capture depth information for object in real time, but are noisy and subject to low resolutions. Recently, filter-based depth up-sampling algorithms such as joint bilateral upsampling (JBU) and noise-aware filter for depth up-sampling (NAFDU) have been proposed to get high quality depth information. However, these methods often lead to texture copying in the upsampled depth map. To overcome this limitation, we formulate a convex optimization problem using higher order regularization for depth map upsampling. We decrease the texture copying problem of the upsampled depth map by using edge weighting term that chosen by the edge information. Experimental results have shown that our scheme produced more reliable depth maps compared with previous methods.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.6
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• pp.2730-2747
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• 2016

Due to the limitation of the bandwidth resource and capture resolution of depth cameras, low resolution depth maps should be up-sampled to high resolution so that they can correspond to their texture images. In this paper, a novel depth map up-sampling algorithm is proposed by exploiting the fractal internal self-referential feature. Fractal parameters which are extracted from a depth map, describe the internal self-referential feature of the depth map, do not introduce inherent scale and just retain the relational information of the depth map, i.e., fractal transforms provide a resolution-independent description for depth maps and could up-sample depth maps to an arbitrary high resolution. Then, an enhancement method is also proposed to further improve the performance of the up-sampled depth map. The experimental results demonstrate that better quality of synthesized views is achieved both on objective and subjective performance. Most important of all, arbitrary resolution depth maps can be obtained with the aid of the proposed scheme.

• Journal of the Korean Society of Costume
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• v.52 no.7
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• pp.13-25
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• 2002

The purpose of this study is to develope a creative expression technique in fashion illustration through analyzing applied techniques of the elements related to creative expressions in fashion illustrations. They were investigated in view of line, form, texture, color, space and the results were summarized as follows. In the creative expression using line in the fashion illustration. emotional effects of line created by specific character of mediums and duplicated lines have been applied to visualize movements of the objects. In shape, the transformed figure by destructing. covering or eliminating a part of the figure or the dress has been adapted. In texture. the invented texture reconstructed from actual texture has been applied, collage technique. computer graphic being used to give various images of texture. The creative expressions using color have been achieved by the shading. and spreading effects and the symbolic meaning of color for creating a spatiality in a picture plane and to give emotional effects and visual concentricity. In space, the color perspective together with detailed description. the combination of various points of view and liner perspective have been used to create depth and illusional space in pictorial plane.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.4 no.4
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• pp.1-11
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• 2001

This study was carried out to analyze the characteristics of forest environmental and stream morphological factors by using the quantification theory(I) for evaluation of the watershed stability. Present annual mean sediment yield of erosion control dams were investigated in 167 sites of erosion control dam constructed during 1986 to 1999 in Gyeongbuk. The results obtained from this study were summarized as follows; According to the coefficients of partial correlation, each factor affecting to sediment was shown in order of gravel contents, number of first streams order, number of total streams, length of total streams, forest type, length of main stream, parent rock, stand age, soil texture, stream order, slope gradient, soil depth and aspect. Descriptions of class I were as follow; Igneous rock of parent rock, hardwood stands of forest type, less than 20 year of stand age, less than 30cm of soil depth, sandy clay loam of soil texture, more than 41% of gravel contents, south~east of aspect, 2,501~3,500m of length of main stream, 21~25 of number of total streams, 5,501~10,000m of length of total streams, 3 or more than 4 of stream order, more than 16 of number of first stream orders and more than $31^{\circ}$ of slope gradient. Descriptions of class II were as follow; Metamorphic rock of parent rock, coniferous stands of forest type, more than 25 year of stand age, 31~40cm of soil depth, silt loam of soil texture, 11~20% of gravel contents, north~west of aspect, 2,501~3,500m of length of main stream, 16~20 of number of total streams, 3,501~5,500m of length of total streams, 3 of stream order, 11~15 of number of first stream orders and more than $31^{\circ}$ of slope gradient. Descriptions of class III were as follow; Sedimentary rock of parent rock, mixed stands of forest type, more than 25 year of stand age, more than 51cm of soil depth, silty clay loam of soil texture, less than 10% of gravel contents, south~west of aspect, less than 500m of length of main stream, less than 5 of number of total streams, less than 1,000m of length of total streams, less than 1 of stream order, less than 2 of number of first stream orders and less than $25^{\circ}$ of slope gradient. The prediction method of suitable site for erosion control dam divided into class I, II, and III for the convenience of use. The score of class I evaluated as a very unstable area was more than 8.4494. A score of class II was 8.4493 to 6.0452, it was evaluated as a moderate stable area, and class III was less than 6.0541, it was evaluated as a very stable area.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.3
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• pp.1140-1154
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• 2015

Multiple Description (MD) coding is a promising alternative for the robust transmission of information over error-prone channels. Lattice vector quantization (LVQ) is a significant version of MD techniques to design an MD image coder. However, different from the traditional 2D texture image, the 3D depth image has its own special characteristics, which should be taken into account for efficient compression. In this paper, an optimized MDLVQ scheme is proposed in view of the characteristics of 3D depth image. First, due to the sparsity of depth image, the image blocks can be classified into edge blocks and smooth blocks, which are encoded by different modes. Furthermore, according to the boundary contents in edge blocks, the step size of LVQ can be regulated adaptively for each block. Experimental results validate the effectiveness of the proposed scheme, which show better rate distortion performance compared with the conventional MDLVQ.