• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.63.6-63
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• 2001

For robot navigation and visual reconstruction , structure from motion (SFM) is an active issue in computer vision community and its properties are also becoming well understood. As a drawback in SFM, it is well known that the SFM methods, using small motion model such as optical flow and direct method, have inevitably motion ambiguity between translation and rotation, which is called bas-relief ambiguity. In this paper based on the robust direct method using stereo image sequence, we present a new method for improving those ambiguities. Basically, the direct method uses nearly all image pixels for estimating motion parameters and depths, and global optimization techniques are adopted for finding its solution ...

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2021.06a
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• pp.293-296
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• 2021

본 논문에서는 컴퓨터 그래픽에서 주로 적용되어 왔던 푸아송 디스크 샘플링(Poisson Disk Sampling)을 3차원 영상 모델링에 적용하는 것을 제안한다. 이 샘플링 기법은 3차원 영상 센서의 핵심 기술로 사용되는 라이다 센서를 활용해 수집한 PointCloud가 특정 위치로 뭉쳐지는 클러스터 현상이 발생하지 않고 균일하게 분포하게 할 뿐 아니라 영상의 노이즈도 제거한다. Intel의 라이다 센서 L515와 Apple의 태블릿 라이다 센서를 이용해 추출한 PointCloud를 Poisson Disk Sampling 과정을 거쳐 Mesh를 생성하고 이를 SLAM 기법으로 추출한 경우와 비교한다. PointCloud의 수를 줄였을 때 더 좋은 Mesh를 생성할 수 있다.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.935-940
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• 2002

For robot navigation and visual reconstruction, structure from motion (SFM) is an active issue in computer vision community and its properties arc also becoming well understood. In this paper, when using stereo image sequence and direct method as a tool for SFM, we present a new method for overcoming bas-relief ambiguity. We first show that the direct methods, based on optical flow constraint equation, are also intrinsically exposed to such ambiguity although they introduce robust methods. Therefore, regarding the motion and depth estimation by the robust and direct method as approximated ones. we suggest a method that refines both stereo displacement and motion displacement with sub-pixel accuracy, which is the central process f3r improving its ambiguity. Experiments with real image sequences have been executed and we show that the proposed algorithm has improved the estimation accuracy.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.187-192
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• 2006

Image fusion techniques are widely used to integrate a lower spatial resolution multispectral image with a higher spatial resolution panchromatic image. However, the existing techniques either cannot avoid distorting the image spectral properties or involve complicated and time-consuming decomposition and reconstruction processing in the case of wavelet transform-based fusion. In this study a simple spectral preserve fusion technique: the Smoothing Filter-based Replacement(SFR) is proposed based on a simplified solar radiation and land surface reflection model. By using a ratio between a higher resolution image and its low pass filtered (with a smoothing filter) image, spatial details can be injected to a co-registered lower resolution multispectral image minimizing its spectral properties and contrast. The technique can be applied to improve spatial resolution for either colour composites or individual bands. The fidelity to spectral property and the spatial quality of SFM are convincingly demonstrated by an image fusion experiment using IKONOS panchromatic and multispectral images. The visual evaluation and statistical analysis compared with other image fusion techniques confirmed that SFR is a better fusion technique for preserving spectral information.

• International journal of advanced smart convergence
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• v.6 no.4
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• pp.88-95
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• 2017

The conventional scan methods are based on a laser scanner and a depth camera, which requires high cost and complicated post-processing. Whereas in photometric scanning method, the 3D modeling data is acquired through multi-view images. This is advantageous compared to the other methods. The quality of a photometric 3D model depends on the environmental conditions or the object characteristics, but the quality is lower as compared to other methods. Therefore, various methods for improving the quality of photometric scanning are being studied. In this paper, we aim to investigate the effect of illumination conditions on the quality of photometric scanning data. To do this, 'Moai' statue is 3D printed with a size of $600(H){\times}1,000(V){\times}600(D)$. The printed object is photographed under the hard light and soft light environments. We obtained the modeling data by photometric scanning method and compared it with the ground truth of 'Moai'. The 'Point-to-Point' method used to analyseanalyze the modeling data using open source tool 'CloudCompare'. As a result of comparison, it is confirmed that the standard deviation value of the 3D model generated under the soft light is 0.090686 and the standard deviation value of the 3D model generated under the hard light is 0.039954. This proves that the higher quality 3D modeling data can be obtained in a hard light environment. The results of this paper are expected to be applied for the acquisition of high-quality data.

• Spatial Information Research
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• v.14 no.1 s.36
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• pp.85-94
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• 2006

Image fusion techniques are widely used to integrate a lower spatial resolution multispectral image with a higher spatial resolution panchromatic image. However, the existing techniques either cannot avoid distorting the image spectral properties or involve complicated and time-consuming decomposition and reconstruction processing in the case of wavelet transform-based fusion. In this study a simple spectral preserve fusion technique: the Smoothing Filter-based Replacement(SFR) is proposed based on a simplified solar radiation and land surface reflection model. By using a ratio between a higher resolution image and its low pass filtered (with a smoothing filter) image, spatial details can be injected to a co-registered lower resolution multispectral image minimizing its spectral properties and contrast. The technique can be applied to improve spatial resolution for either colour composites or individual bands. The fidelity to spectral property and the spatial quality of SFM are convincingly demonstrated by an image fusion experiment using IKONOS panchromatic and multispectral images. The visual evaluation and statistical analysis compared with other image fusion techniques confirmed that SFR is a better fusion technique for preserving spectral information.