• 로봇학회논문지
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• 제17권3호
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.

• 한국지반환경공학회 논문집
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• 제17권8호
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• pp.29-37
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• 2016

해상처분장에서 내부 오염물질의 외부 유출을 방지하기 위하여 연직차수벽체가 설치된다. 연직차수벽체가 오염물질의 이동을 효과적으로 차단하기 위해서는 연직차수벽체가 해저지반의 적정 근입깊이까지 설치되어야 한다. 본 연구에서는 연직차수벽체 근입심도에 따른 해저지반을 통한 침투 및 오염물질 이동특성을 분석하기 위하여 2차원 유한요소해석 프로그램인 SEEP/W를 이용한 침투해석과 3차원 유한차분해석 프로그램인 Visual Modflow를 이용한 오염물질 이동해석을 수행하였다. 수치해석결과, 연직차수벽체는 저투수성 지반으로 일정 깊이 이상 근입되면 오염물질 유출방지 효과를 갖는 것으로 나타났다. 따라서 경제적인 연직차수벽체 설계를 위해서는 오염물질 이동을 차단할 수 있는 효과적인 최소 근입심도를 산정하여 적용하는 것이 효과적일 것으로 판단된다.

• 한국실내디자인학회논문집
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• 제22권5호
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• pp.135-142
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• 2013

This research regards that experiencing certain space according to looking through sensations of body will finally make visual perceptional experience to happen. Our bodies incorporate sensible experience along with interactions with surrounding environment while making movements. The analysis of Seongyojang in Gangleung through top and bottom, depth, movement and experience space which are Merleau Ponty's phenomenological space elements has led to the following conclusions. First, the up and down directivity inherent in Seongyojang has different directions in movements by the axis of plane. Second, the depth by the correlation between things and bodies shows the interactions with things and the depth of space rendered by the servants' quarters of '一字形' and the overlapping effect from the movement between buildings can be seen and felt. Third, mobility is focused on the surroundings for the movements of body and thing. Fourth, the experienced space remains as what it is and is experienced through the experience of traditional cultures. The temporality where the past and the present subsist is given with the application of the modern living pattern in the traditional space. That is, the space from the point of phenomenological view makes the visual-perceptual experience possible through the senses of body, with which the space is experienced and sensed. In other words, the space from the phenomenological viewpoint makes visual-perceptual experience possible through the senses of body so that the space may be experienced and perceived. Through this study, a new viewpoint toward Korean traditional space is expected to be discovered.

• Imaging Science in Dentistry
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• 제42권4호
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• pp.243-247
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• 2012

Purpose: This study was performed to compare the inverted digital images and film-based images of dry pig mandibles to measure the periodontal bone defect depth. Materials and Methods: Forty 2-wall bone defects were made in the proximal region of the premolar in the dry pig mandibles. The digital and conventional radiographs were taken using a Schick sensor and Kodak F-speed intraoral film. Image manipulation (inversion) was performed using Adobe Photoshop 7.0 software. Four trained examiners made all of the radiographic measurements in millimeters a total of three times from the cementoenamel junction to the most apical extension of the bone loss with both types of images: inverted digital and film. The measurements were also made in dry mandibles using a periodontal probe and digital caliper. The Student's t-test was used to compare the depth measurements obtained from the two types of images and direct visual measurement in the dry mandibles. A significance level of 0.05 for a 95% confidence interval was used for each comparison. Results: There was a significant difference between depth measurements in the inverted digital images and direct visual measurements (p>|t|=0.0039), with means of 6.29 mm ($IC_{95%}$:6.04-6.54) and 6.79 mm ($IC_{95%}$:6.45-7.11), respectively. There was a non-significant difference between the film-based radiographs and direct visual measurements (p>|t|=0.4950), with means of 6.64mm($IC_{95%}$:6.40-6.89) and 6.79mm($IC_{95%}$:6.45-7.11), respectively. Conclusion: The periodontal bone defect measurements in the inverted digital images were inferior to film-based radiographs, underestimating the amount of bone loss.

• 한국콘텐츠학회논문지
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• 제16권7호
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• pp.431-438
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• 2016

본 논문은 색상정보와 깊이정보 가중치를 이용한 깊이영상 업샘플링 방법을 제안한다. 제안하는 알고리즘은 먼저 양선형 보간법을 통해 높은 해상도의 깊이영상을 생성한다. 그 후 RGB 색상영상, HSV 색상영상, 깊이영상 등을 이용하여 공통경계 영역을 추정한다. 만일 보간 된 화소가 공통경계 영역에 속한다면 해당화소를 포함하는 $3{\times}3$ 영역의 화소들에 대한 색상정보와 깊이정보의 가중치를 구하고 경계 화소값 결정을 위한 비용계산을 수행한다. 그 후 가장 작은 경계 화소값 결정 비용을 가지는 화소 값을 결과영상의 화소값으로 정한다. 제안하는 알고리즘은 PSNR 및 주관적 화질 비교에서 우수한 성능을 보였다.

• 대한소아치과학회지
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• 제29권4호
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• pp.600-606
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• 2002

본 연구는 레이저 형광을 치아의 교합면에 적용하여 임상에서 초기 교합면 우식증의 감별에 레이저의 이용가능성을 평가하는데 그 목적이 있다. 아르곤 레이저 형광법의 교합면 우식증 탐지효과를 평가하기 위해 발거된 사람 치아 중에서 치아우식증을 제외한 결함이 없고 법랑질이 건강한 대구치와 소구치 50개를 선정하여 시진, 탐침을 이용한 시진, 아르곤 레이저 형광법을 이용해 관찰한 결과와 편광현미경으로 관찰한 병소의 깊이를 비교하여 다음과 같은 결론을 얻었다. 1. 교합면 우식의 조직학적 깊이와 아르곤 레이저 형광법에 의한 교합면 우식증 평가법과 시진, 탐침을 이용한 시진사이에서 모두 높은 상관 관계를 보였다. 2. 교합면 우식증의 조직학적 깊이와 각 검사법간의 일치도(kappa치)는 각각 시진이 0.189, 탐침을 이용한 시진이 0.128, 레이저 형광법이 0.472 이었으며, 레이저 형광법이 가장 일치도가 높았다. 이상의 결과를 종합해 보면 육안적 검사보다는 레이저 조사 후 관찰된 우식과 편광현미경상에서의 우식이 더 유의성 있는 관계를 보여 교합면 우식증탐지에의 레이저 형광법의 적용이 가능하리라 사료된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.940-943
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• 1996

In teleoperating, as seeing the monitor screen obtained from a camera instituted in the working environment, human operator generally controls the slave arm. Because we can see only 2-D image in a monitor, human operator does not know the depth information and can not work with high accuracy. In this paper, we proposed a traded control method using an visual sensor for the purpose of solving this problem. We can control a teleoperation system with precision when we use the proposed algorithm. Not only a human operator command but also an autonomous visual sensor feedback command is given to a slave arm for the purpose of coincidence current image features and target image features. When the slave arm place in a distant place from the target position, human operator can know very well the difference between the desired image features and the current image features, but calculated visual sensor command have big errors. And when the slave arm is near the target position, the state of affairs is changed conversely. With this visual sensor feedback, human does not need coincide the detail difference between the desired image features and the current image features and proposed method can work with higher accuracy than other method without, sensor feedback. The effectiveness of the proposed control method is verified through series of experiments.

• 한국실내디자인학회논문집
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• 제25권3호
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• pp.3-10
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• 2016

The unexpected expansion of the built environment has allowed for high-density and high-rise buildings. As high-density dwellings compromise privacy, the requirements for balancing between interacting with others and protecting privacy are increasing. In this respect, Korean traditional architecture provides privacy through a proper balance of openness and closure in the courtyard garden. However, it is difficult to analyze privacy quantitatively, as it depends on the individual experience and psychology. The analyzing for visual privacy is a significant issue to resolve a conflict with others and enhance human's comfort. Therefore, this paper addresses the assumption that visual privacy could ultimately be quantified based on the concept of prospect and refuge, one of the design strategies for psychological wellbeing. The purpose of this study is to examine visual privacy in the royal palace in Korea, Gyeongbokgung and Changdeokgung. It measures spatial configuration in each buildings using space syntax, and the area ratio of prospect and refuge through an image analysis with Adobe Photoshop CS6. The mathematical properties of connectivity, depth, control value, integration and the area ratio of prospect and refuge are partially available for quantifying visual privacy in buildings.

• 방송공학회논문지
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• 제21권1호
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• pp.76-86
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• 2016

연구에서는 입체시 측정방법과 양안시차에 따라 지각되는 입체시 깊이 차이를 살펴보기 위해서 실시되었다. 직접비교 조건에서는 깊이를 평가할 가상자극과 깊이 평가에 사용된 실제 LED들이 모두 정면의 동일 공간에 제시되어 있었고, 간접비교 조건에서는 가상자극은 정면에 제시되었지만 깊이 평가에 사용된 LED들은 45도 오른쪽에 놓여있었다. 따라서 직접비교 조건에서는 동일 공간에 제시된 두 자극의 깊이를 비교하면서 대응시킬 수 있었지만, 간접비교 조건에서는 가상 자극의 깊이를 평가한 후 오른쪽 방향에 있는 LED를 이용하여 깊이를 추정할 수 있었다. 이 들 두 측정 방법에서 지각되는 입체시 깊이가 달라지는 지를 확인하고 부가적으로 관찰자들의 입체시력에 따라 지각되는 깊이가 달라지는 지를 살펴보았다. 실험 결과 직접비교 조건에서 지각된 깊이는 간접비교 조건에서 지각된 깊이보다 더 기하학적으로 예측된 깊이와 유사하였다. 또한 입체시력이 좋은 사람들은 그렇지 않은 사람들보다 기하학적으로 예측된 깊이와 유사한 깊이를 지각하였다. 이러한 결과는 동일한 양안 시차를 가진 자극들이라도 이들 가상자극들만 제시되는 것보다 현실자극과 가상자극이 동일 공간에 제시될 때 지각된 깊이가 더 크게 지각됨을 보여주는 것이다. 따라서 양안시차를 가진 자극만 제시되는 가상현실에서 지각되는 입체 자극의 깊이보다 현실영상과 가상영상이 함께 제시되는 증강현실에서 보다 큰 깊이가 지각될 수 있음을 시사한다.

• 대한인간공학회지
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• 제10권1호
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• pp.11-22
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• 1991

This paper aims to examine experimentally the difference of subjectively measured degree of depth between two dimensional (2D) and three dimensional (3D) images. For this paper, two experiments were conducted; in the first experiment, the subjects were asked to estimate the distance between two objects presented with different depths, while in the second experiment, the subjects' role was to rank three objects in the order of distance from the screen. In both experiments, the objects were presented either in 2D or 3D images. The results of the experiments show that the use of 3D images can induce more accurate and more stable estimates of distance than the use of 2D images. However, it is also noted that the absolute degree of depth is not the unique criteria utilized by the subjects for the distinction of small differences of depth.