• The Transactions of the Korea Information Processing Society
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• v.3 no.5
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• pp.1037-1045
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• 1996

In this paper, the parallel model for stereo camera is employed to find the heralding angle and the distance between a leading vehicle and the following vehicle, BART(Binocular Autonomous Research Team vehicle). Two TDNNs (Time Delay Neural Network) such as S-TDNN and A-TDNN are introduced to control BART. S-TDNN controls the speed of the following vehicle while A-TDNN controls the steering angle of BATR. A human drives BART to collect data which are used for training the said neural networks. The trained networks performed the vehicle tracking function satisfactorily under the same driving conditions performed by the human driver. The neural network approach has good portability which decreases costs and saves development time for the different types of vehicles.

• Journal of Information Processing Systems
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• v.16 no.1
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• pp.155-170
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• 2020

Passive ranging is a critical part of machine vision measurement. Most of passive ranging methods based on machine vision use binocular technology which need strict hardware conditions and lack of universality. To measure the distance of an object placed on horizontal plane, we present a passive ranging method based on monocular vision system by smartphone. Experimental results show that given the same abscissas, the ordinatesis of the image points linearly related to their actual imaging angles. According to this principle, we first establish a depth extraction model by assuming a linear function and substituting the actual imaging angles and ordinates of the special conjugate points into the linear function. The vertical distance of the target object to the optical axis is then calculated according to imaging principle of camera, and the passive ranging can be derived by depth and vertical distance to the optical axis of target object. Experimental results show that ranging by this method has a higher accuracy compare with others based on binocular vision system. The mean relative error of the depth measurement is 0.937% when the distance is within 3 m. When it is 3-10 m, the mean relative error is 1.71%. Compared with other methods based on monocular vision system, the method does not need to calibrate before ranging and avoids the error caused by data fitting.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.7
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• pp.104-115
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• 1999

This paper proposes an efficient method for 3D modeling of a human face from trinocular images by reconstructing face surface using range data. By using a trinocular camera system, we mitigated the tradeoff between the occlusion problem and the range resolution limitation which is the critical limitation in binocular camera system. We also propose an MPC_MBS (Matching Pixel Count Multiple Baseline Stereo) area-based matching method to reduce boundary overreach phenomenon and to improve both of accuracy and precision in matching. In this method, the computing time can be reduced significantly by removing the redundancies. In the model generation sub-pixel accurate surface data are achieved by 2D interpolation of disparity values, and are sampled to make regular triangular meshes. The data size of the triangular mesh model can be controlled by merging the vertices that lie on the same plane within user defined error threshold.

• Journal of Korean Ophthalmic Optics Society
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• v.13 no.4
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• pp.127-134
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• 2008

Purpose: The purpose of this study was to determine the expected values of accommodation and vergence system for analysis of binocular vision. Methods: Seventy three healty subjects without past history of eye disease were selected for this study, Patients showing clinical binocular anomalies including manifest squint and intermittent heterotropia were excluded and data was collected on 54 patients(mean age, 25.3${\pm}$2.7 year). Near point of convergence, distance and near phoiras were measured based on objective deviation angle. And then AC/ A ratio, relative accommodation were measured and all of the data were compared with the Morgan's expected values. Results: The values of distance and near heterophoria were 1.24${\pm}$2.72${\Delta}$ and 2.70${\pm}$4.91${\Delta}$ respectively and the gradient AC/A ratio was 3.92${\pm}$2.17${\Delta}$/D which were all about the same compared with the Morgan's expected values. The values of distance negative fusional convergence was same, however, distance positive fusional convergence was 7${\Delta}$ greater than the Morgan's one. There were no significant differences in the range values of both near vergences while the range of distance vergence was relatively larger than the Morgan's one. Positive relative accommodation was +0.37D greater and negative relative accommodation was -0.63D greater than the Morgan's values. Conclusions: The findings in this study appear that the Morgan's expected values have a possibilities of including considerable proximal convergence value. In comparison with Morgan's values, Korean's normal expected values have much different values of especially BO limit, so if the Morgan's values are directly applied to binocular vision analysis for Korean people, it may lead to an inaccurate binocular vision diagnosis. This results can be used to diagnose the accommodation and vergence system of Korean normal young adults.

• Journal of Korea Spatial Information System Society
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• v.11 no.2
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• pp.73-78
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• 2009

Real-time 3D visualization of terrain data is one of the important issues in GIS(Geographic Information System) field. We present a real-time terrain rendering engine that can use several types of GIS data source such as DEM(Digital Elevation Map), DTED(Digital Terrain Elevation Data) and LIDAR(Light Detection And Ranging). Our rendering engine is a quadtree-based terrain rendering framework with several acceleration modules. This can generate an ocular and binocular image. Also it can be applied to the flight simulation, walk-through simulation and a variety of GIS applications.

• Journal of Korean Ophthalmic Optics Society
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• v.17 no.2
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• pp.153-158
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• 2012

Purpose: The purpose of this study was to evaluate the convergence accommodation to convergence (CA/C) ratio and to investigate relationships among age, accommodative amplitude and PD (interpupillary distance) of adults in their early twenties with normal binocular vision. Methods: 44 subjects (mean age, $21.75{\pm}1.16$ years) with healthy eyes were examined. The CA/C ratios were measured by using the difference of Gaussian (DOG) target with retinoscopy. Results: The mean CA/C ratio was $0.052{\pm}0.017$ D/$\Delta$. A moderate negative correction was present between CA/C ratio and age (r = -0.50, p = 0.0005), and a highly positive correction was found between CA/C ratio and accommodative amplitude (r = 0.79, p<0.0001). There was no relation between PD and CA/C ratio. Conclusions: The CA/C ratio presented was mean value for adults in their early twenties with healthy eye between 19 and 25 years of age. There was a high correlation between accommodative amplitude and CA/C ratio. Therefore, the CA/C ratio will be useful basic information for comparison in age, gender and binocular anomalies with similar data from other countries.

• Journal of Korean Ophthalmic Optics Society
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• v.17 no.1
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• pp.59-65
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• 2012

Purpose: The purpose of this study was to determine the distribution and correlation of accommodative lag with refractive error. Method: We had tested the clinical refraction and the accommodative lag in clinically normal 49 young adults (total 98 eyes) aged 18 to 25 years without abnormal binocular function. Monocular and binocular accommodative lag were tested with 0.50 D cross-cylinder lens and near vision test chart which had cross-hairs after full correction of LogMAR visual acuity over 0.05. Results: There was no statistical differences in monocular accommodative lag between right ($0.64{\pm}0.64$ D) and left eye ($0.63{\pm}0.64$)(p=0.858). The accommodative lag of male was higher than female and the range of the value was broader than female in binocular accommodative lag (p=0.015). The wider the inter-pupillary distance was, the higher the accommodative lag was (p=0.003). However, there were no differences with age (p=0.800) and dominant eye (p=0.402). The ranges of accommodative lag of low, middle, and high myopia were 0.75 ~ -0.25 D, 1.25 ~ -0.50 D, and 1.50 ~ -0.75 D, respectively, and the regression was 'y = -0.03953x+0.09205'. Conclusions: These data suggest that clinically normal young adults with high amounts of refractive error have more variable accommodative lag and increased spherical equivalent refraction.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.2
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• pp.45-53
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• 2019

RGB-D SLAM (Simultaneous Localization and Mapping) refers to the technology of using deep camera as a visual sensor for SLAM. In view of the disadvantages of high cost and indefinite scale in the construction of maps for laser sensors and traditional single and binocular cameras, a method for creating three-dimensional map of indoor environment with deep environment data combined with RGB-D SLAM scheme is studied. The method uses a mobile robot system equipped with a consumer-grade RGB-D sensor (Kinect) to acquire depth data, and then creates indoor three-dimensional point cloud maps in real time through key technologies such as positioning point generation, closed-loop detection, and map construction. The actual field experiment results show that the average error of the point cloud map created by the algorithm is 0.0045m, which ensures the stability of the construction using deep data and can accurately create real-time three-dimensional maps of indoor unknown environment.

• Korean Journal of Optics and Photonics
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• v.4 no.1
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• pp.22-27
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• 1993

We investigate the phase modulation effects on the OTFs of a binocular objective which is made in Korea.The OTFs are calculated from design data for FOV $0^{\circ}$ and $1.5^{\circ}$.The phase modulation is carried out by giving phase retardation $\pi$ on the aperture. The areas where the phases are retarded $\pi$ on the aperture are of an annular type. The OTFs of phase modulated aperture are also compared with that of unmodulated one. The OTFs of an aberration loaded system can be improved by proper phase modulation.

• Journal of the Optical Society of Korea
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• v.4 no.1
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• pp.25-29
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• 2000

Two different binocular cues are known for detecting motion in depth. One is disparity change in time and the other is inter-ocular velocity difference. Shioiri, Saisho and Yaguchi (1999) demon-strated that motion in depth can be seen based solely on inter-ocular velocity differences as well as on the disparity change in time. They used conditions in which either cue was minimized and measured performance based on motion in depth, finding better performance than chance level when either velocity cue or the disparity cue was almost isolated. However, there may have been influences from the cue minimized in each condition, since it was practically impossible to isolate perfectly either cue. I re-analyzed their data to examine whether the performance in the condition with disparity change and that in the condition with inter-ocular velocity difference were correlated. The result showed the correlation is very low and therefore, we can conclude that the visual system has two different mechanisms for motion in depth.