• Journal of the Institute of Electronics Engineers of Korea SP
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• v.38 no.4
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• pp.381-391
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• 2001

This paper presents an efficient approach to build an image mosaics from image sequences. Unlike general panoramic stitching methods, which usually require some geometrical feature points or solve the iterative nonlinear equations, our algorithm can directly recover the 8-parameter planar perspective transforms. We use four quasi-feature points in order to compute the projective transform between two images. This feature is based on the graylevel distribution and defined in the overlap area between two images. Therefore the proposed algorithm can reduce the total amount of the computation. We also present an algorithm lot efficiently matching the correspondence of the extracted feature. The proposed algorithm is applied to various images to estimate its performance and. the simulation results present that our algorithm can find the correct correspondence and build an image mosaics.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.8
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• pp.215-224
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• 2013

An efficient homography estimation method for large sized images is proposed. Estimating an accurate homography is one of the most important parts in image stitching processes. Since hardwares have been advanced, it has been passible to take higher resolution images. However, computational cost for estimating homography has been also increased. Specifically, when too many features exist in the images, it requires lots of computations to estimate a correct homography. Furthermore, there is a high probability of obtaining an incorrect homography. Therefore, we propose a numerical method to extract the appropriate correspondences from several down-scaled images to estimate and compensate the homography numerically for restoring an original homography. Also, if there is an unbalance in color tone between the reference and the target images, we make them balanced by using local information of the overlapped regions. Experimental results show that proposed method is three times faster in 3.2 mega pixel images, five times faster in 8mega pixel images than the conventional approach. Therefore, we believe that the proposed method can be a useful tool to efficiently estimate a homography.

• Korean Journal of Optics and Photonics
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• v.19 no.5
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• pp.376-380
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• 2008

This paper presents the Projection Moire method using a line scan camera. The high resolution feature of a line scan camera makes it possible to scan an image quickly, thus enabling a much quicker 3D profile. This method uses a high resolution line scan camera making it possible to scan an image at high speed simultaneously measuring the 3D profile of a large FOV. When using a high resolution scan camera, a full FOV is scanned, thus requiring just one movement of a projection grating. As a result, the number of grating movements is reduced drastically. The end result is a faster and more accurate 3D measurement. Moving the grating too quickly causes vibration in the imaging system, which will normally be required to apply a stitching technique when using an area scan camera. However the technique is not required when using a line scan camera. Compared with the previous techniques, it has the advantages of simple hardware without moving mechanical parts - single exposure for obtaining three-dimensional information. A method using a high resolution line scan camera can be used in mass production to measure the bump height of wafers or the bump height of package substrates.

• Journal of Broadcast Engineering
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• v.24 no.6
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• pp.992-1001
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• 2019

In many applications, images acquired from multiple cameras are stitched to form an image with a wide viewing angle. We propose a method of estimating a seam line using motion information to stitch multiple images without distortion of the moving object. Existing seam estimation techniques usually utilize an energy function based on image gradient information and parallax. In this paper, we propose a seam estimation technique that prevents distortion of moving object by adding temporal motion information, which is calculated from the gradient information of each frame. We also propose a measure to quantify the distortion level of stitched images and to verify the performance differences between the existing and proposed methods.

• The Journal of Advanced Prosthodontics
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• v.14 no.2
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• pp.88-95
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• 2022

PURPOSE. This study investigated the accuracy of full-arch intraoral scans obtained by various scan strategies with the segmental scan and merge methods. MATERIALS AND METHODS. Seventy intraoral scans (seven scans per group) were performed using 10 scan strategies that differed in the segmental scan (1, 2, or 3 segments) and the scanning motion (straight, zigzag, or combined). The three-dimensional (3D) geometric accuracy of scan images was evaluated by comparison with a reference image in an image analysis software program, in terms of the arch shape discrepancies. Measurement parameters were the intermolar distance, interpremolar distance, anteroposterior distance, and global surface deviation. One-way analysis of variance and Tukey honestly significance difference post hoc tests were carried out to compare differences among the scan strategy groups (α = .05). RESULTS. The linear discrepancy values of intraoral scans were not different among scan strategies performed with the single scan and segmental scan methods. In general, differences in the scan motion did not show different accuracies, except for the intermolar distance measured under the scan conditions of a 3-segmental scan and zigzag motion. The global surface deviations were not different among all scan strategies. CONCLUSION. The segmental scan and merge methods using two scan parts appear to be reliable as an alternative to the single scan method for full-arch intraoral scans. When three segmental scans are involved, the accuracy of complete arch scan can be negatively affected.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2017.06a
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• pp.256-259
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• 2017

파노라마 영상은 카메라 시야각의 제한을 극복하여 넓은 시야를 가질 수 있으므로 컴퓨터 비전, 스테레오 카메라 등의 분야에서 효율적으로 연구되고 있다. 파노라마 영상을 생성하기 위해서는 영상 스티칭 기술이 필요하다. 영상 스티칭 기술은 여러 영상에서 추출한 특징점의 디스크립터를 생성하고, 특징점들 간의 유사도를 비교하여 영상들을 이어 붙여 큰 하나의 영상으로 만드는 것이다. 각각의 특징점은 수십 수백차원의 정보를 가지고 있고, 스티칭 할 영상이 많아질수록 데이터 처리 시간이 증가하게 된다. 본 논문에서는 이를 해결 하기 위해서 전처리 과정으로 겹치는 영역이 많을 것이라고 예상되는 영상들을 그룹화 하는 방법을 제안한다. 카메라 센서 정보를 기반으로 영상들을 미리 그룹화 하여 한 번에 스티칭 할 영상의 수를 줄임으로써 데이터 처리 시간을 줄일 수 있다. 후에 계층적으로 스티칭 하여 하나의 큰 파노라마를 만든다. 실험 결과를 통해 제안한 방법이 기존의 스티칭 처리 시간 보다 짧아진 것을 검증하였다.

• Journal of Broadcast Engineering
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• v.22 no.4
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• pp.473-483
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• 2017

Since the advent of 3D and UHD contents, demand for high-quality panoramic images has been increasing. The UWV(Ultra-Wide Viewing) service uses a wider viewing angle than conventional panoramas to provide a lively experience for users and enhance their understanding of the event. In this paper, we propose a spatial adjacency map generation method and an UWV file storage format technology to provide UWV service. The spatial adjacency map measures the similarity between images and generate the position information of the images based on similarity. And the stitching time of the image can be shortened through the generated position information. Through the spatial adjacency map, we generate the large screen content quickly. The UWV file format which is based on ISOBMFF process spatial adjacency map and videos and support random access. In this paper, we design the UWV player to verify the spatial adjacency map and UWV file format and show the result of experiments.

• The Korean Journal of Physiology and Pharmacology
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• v.22 no.6
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• pp.705-712
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• 2018

The tube formation assay is a widely used in vitro experiment model to evaluate angiogenic properties by measuring the formation of tubular structures from vascular endothelial cells (ECs). In vitro experimental results are crucial when considered the advisability of moving forward to in vivo studies. Thus, the additional attentions to the in vitro assay is necessary to improve the quality of the pre-clinical data, leading to better decision-making for successful drug discovery. In this study, we improved the tube formation assay system in three aspects. First, we used human endothelial colony forming cells (ECFCs), which are endothelial precursors that have a robust proliferative capacity and more defined angiogenic characteristics compared to mature ECs. Second, we utilized a real-time cell recorder to track the progression of tube formation for 48 hours. Third, to minimize analysis error due to the limited observation area, we used image-stitching software to increase the microscope field of view to a $2{\times}2$ stitched area from the $4{\times}$ object lens. Our advanced tube formation assay system successfully demonstrated the time-dependent dynamic progression of tube formation in the presence and absence of VEGF and FGF-2. Vatalanib, VEGF inhibitor, was tested by our assay system. Of note, $IC_{50}$ values of vatalanib was different at each observation time point. Collectively, these results indicate that our advanced tube formation assay system replicates the dynamic progression of tube formation in response to angiogenic modulators. Therefore, this new system provides a sensitive and versatile assay model for evaluating pro- or anti-angiogenic drugs.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06b
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• pp.345-347
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• 2012

본 논문에서는 4-조각 전립선 병리조직 영상을 기하 보정 및 강체 정합하여 자동 스티칭하는 방법을 제안한다. 4-조각 병리영상에 대하여 총 3번의 스티칭을 수행하는데, 좌, 우 조각영상의 상, 하 영상 간 스티칭을 각각 수행 한 후 좌, 우 조각 영상 간 스티칭을 수행한다. 강체 정합 전 병리 조각의 코너를 이용해 x-축, y-축 방향의 위치보정과 회전보정을 수행하는 기하보정 단계를 거침으로서 지역적 최적해로의 수렴을 방지하며, 강체 정합의 정확성을 높인다. 병리영상은 전체적으로 밝기값이 유사하므로 밝기값이 아닌 외곽선 정보를 이용하여 조각 영상간의 거리를 최소화시켜 강체 정합한다. 실험 결과, 4-조각 전립선 병리조직 영상이 지역적 최적해에 수렴하지 않고, 조각 영상 간 거리를 최소화 하며, 하나로 스티칭 됨을 확인할 수 있었다. 제안 방법의 총 수행 시간은 평균 10.32초로 측정되었다. 본 논문의 제안 방법은 4조각으로 나뉜 전립선 병리조직 영상을 하나로 스티칭 함으로서 해당 조직의 전체 구조 파악 및 조직 내에서의 암의 위치 파악에 사용 될 수 있으며 이를 통한 전립선암의 확진에도 사용 될 수 있다.