• The Journal of the Korea Contents Association
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• v.18 no.2
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• pp.231-239
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• 2018

In this paper, we propose a vanishing point detection method using multiple initial vanishing points. Vanishing points are important geometric information that is used for reconstructing 3D structures. Three vanishing points are detected for indoor scenes. In the previous work, it could be inaccurate to detect only one initial vanishing point, because initial vanishing point getting most highest sum of voting could be deferent from the best initial vanishing point. Therefore the method which sets multiple initial vanishing point and detects a best vanishing point from them gives us preparation for the prior case. Also in this paper, we propose a adjusting vanishing point method by postprocessing of detected vanishing points. We could detect more accurate vanishing point by using postprocessing. Experimental results show that the accuracy of the vanishing point detection is about 1~2% higher than that of the existing method through the proposed method and the performance is improved accordingly.

• Journal of Internet Computing and Services
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• v.18 no.5
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• pp.39-46
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• 2017

In this paper, we proposes method of vanishing point detection using orthogonality of vanishing point, under the "Manhattan World" assumption that the structure of the city is mostly grid and vanishing point are orthogonal to each other. The feature that the vanishing point are orthogonal to each other can be useful for inferring the missing point that are not detected among the three vanishing point, and prevent the vanishing point detected close to the other vanishing point. In this paper, we detect Vertical vanishing point through statistical approach and detect Horizontal and Front vanishing point through structural approach. Experimental results show that the proposed method improves the detection accuracy of the vanishing point compared with the existing method.

• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.6
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• pp.361-367
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• 2016

In this paper, we propose an improved single view metrology (SVM) algorithm to accurately measure the height of objects. In order to accurately measure the size of objects, vanishing points have to be correctly estimated. There are two methods to estimate vanishing points. First, the user has to choose some horizontal and vertical lines in real world. Then, the user finds the cross points of the lines. Second, the user can obtain the vanishing points by using software algorithm such as [6-9]. In the former method, the user has to choose the lines manually to obtain accurate vanishing points. On the other hand, the latter method uses software algorithm to automatically obtain vanishing points. In this paper, we apply image resizing and edge sharpening as a pre-processing to the algorithm in order to improve performance. The estimated vanishing points algorithm create four vanishing point candidates: two points are horizontal candidates and the other two points are vertical candidates. However, a common image has two horizontal vanishing points and one vertical vanishing point. Thus, we eliminate a vertical vanishing point candidate by analyzing the histogram of angle distribution of vanishing point candidates. Experimental results show that the proposed algorithm outperforms conventional methods, [6] and [7]. In addition, the algorithm obtains similar performance with manual method with less than 5% of the measurement error.

• Journal of Korea Multimedia Society
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• v.21 no.2
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• pp.300-309
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• 2018

Detection of vanishing point is a challenging task in the situations where there are several structures with straight lines. Commonly used approaches for determining vanishing points involves finding the straight lines using edge detection and Hough transform methods. This approach often fails to perform effectively when there are a lot of straight lines found. The lines not meeting at a vanishing point are considered to be noises. In such situation, finding right candidate lines for detecting vanishing points is not a simple task. This paper proposes to use reference objects for vanishing point detection. By analyzing a reference object, it identifies the contour of the object, and derives a polygon from the contour information. Then the edges of the detected polygon are used to find the vanishing points. Our experimental results show that the proposed approach can detect vanishing points with comparable accuracy to the existing edge detection based method. Our approach can also be applied effectively even to complex situations, where too many lines generated by the existing methods make it difficult to select right lines for the vanishing points.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.1
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• pp.477-483
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• 2019

In this paper, we propose vanishing-point position-improvement algorithms by using multiple images and a homography matrix. Vanishing points can be detected from a single image, but the positions of detected vanishing points can be improved if we adjust their positions by using information from multiple images. More accurate indoor space information detection is possible through vanishing points with improved positional accuracy. To adjust a position, we take three images and detect the information, detect the homography matrix between the walls of the images, and convert the vanishing point positions using the detected homography. Finally, we find an optimal position among the converted vanishing points and improve the vanishing point position. The experimental results compared an existing algorithm and the proposed algorithm. With the proposed algorithm, we confirmed that the error angle to the vanishing point position was reduced by about 1.62%, and more accurate vanishing point detection was possible. In addition, we can confirm that the layout detected by using improved vanishing points through the proposed algorithm is more accurate than the result from the existing algorithm.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.9-15
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• 2015

We present a robust power transmission lines detection method based on vanishing point estimation. Vanishing point estimation can be helpful to detect power transmission lines because parallel lines converge on the vanishing point in a projected 2D image. However, it is not easy to estimate the vanishing point correctly in an image with complex background. Thus, we first propose a vanishing point estimation method on power transmission lines by using a probabilistic voting procedure based on intersection points of line segments. In images obtained by our system, power transmission lines are located in a fan-shaped area centered on this estimated vanishing point, and therefore we select the line segments that converge to the estimated vanishing point as candidate line segments for power transmission lines only in this fan-shaped area. Finally, we detect the power transmission lines from these candidate line segments. Experimental results show that the proposed method is robust to noise and efficient to detect power transmission lines.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.330-336
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• 2023

In this paper, a novel line-based simultaneous localization and mapping (SLAM) using a loss function of vanishing point measurements is proposed. In general, the Huber norm is used as a loss function for point and line features in feature-based SLAM. The proposed loss function of vanishing point measurements is based on the unit sphere model. Because the point and line feature measurements define the reprojection error in the image plane as a residual, linear loss functions such as the Huber norm is used. However, the typical loss functions are not suitable for vanishing point measurements with unbounded problems. To tackle this problem, we propose a loss function for vanishing point measurements. The proposed loss function is based on unit sphere model. Finally, we prove the validity of the loss function for vanishing point through experiments on a public dataset.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.2
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• pp.96-101
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• 2011

Vanishing point can be defined as a point generated by converged perspective lines, which are parallel in the real world. In this paper, we propose a real-time vanishing point detection algorithm using this fundamental feature of vanishing point. The existing methods 1) require high computational cost or 2) are restricted to specific image contents. The proposed method detects the vanishing point in images based on the block-wise HOG (Histogram of Oriented Gradient) descriptor. First, we compute the HOG descriptor in a block-wise manner, then estimate the location of the vanishing point using the proposed dynamic programing. Experiments are performed on diverse images to confirm the efficiency of the proposed method.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.463-470
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• 2015

When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird's eye view image when the pan angle is compensated.

• The Journal of the Korea Contents Association
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• v.13 no.8
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• pp.1-10
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• 2013

This paper proposes a method to detect vanishing points of an indoor scene using line segment classification. Two-stage vanishing points detection is carried out to detect vanishing point in indoor scene efficiently. In the first stage, the method examines whether the image composition is a one-point perspective projection or a two-point one. If it is a two-point perspective projection, a horizontal line through the detected vanishing point is found for line segment classification. In the second stage, the method detects two vanishing points exactly using line segment classification. The method is evaluated by synthetic images and an image DB. In the synthetic image which some noise is added in, vanishing point detection error is under 16 pixels until the percent of the noise to the image becomes 60%. Vanishing points detection ratio by A.Quattoni and A.Torralba's image DB is over 87%.