• Journal of the Korea Computer Graphics Society
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• v.21 no.5
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• pp.37-44
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• 2015

This paper presents a novel 3D model representation, called hybrid model representation, to overcome existing 3D volume-based indoor scene reconstruction mechanism. In indoor 3D scene reconstruction, volume-based model representation can reconstruct detailed 3D model for the narrow scene. However it cannot reconstruct large-scale indoor scene due to its memory consumption. This paper presents a memory efficient plane-hash model representation to enlarge the scalability of the indoor scene reconstruction. Also, the proposed method uses plane-hash model representation to reconstruct large, structural planar objects, and at the same time it uses volume-based model representation to recover small detailed region. Proposed method can be implemented in GPU to accelerate the computation and reconstruct the indoor scene in real-time.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.5
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• pp.205-212
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• 2019

Scene graph is a kind of knowledge graph that represents both objects and their relationships found in a image. This paper proposes a 3D scene graph generation model for three-dimensional indoor environments. An 3D scene graph includes not only object types, their positions and attributes, but also three-dimensional spatial relationships between them, An 3D scene graph can be viewed as a prior knowledge base describing the given environment within that the agent will be deployed later. Therefore, 3D scene graphs can be used in many useful applications, such as visual question answering (VQA) and service robots. This proposed 3D scene graph generation model consists of four sub-networks: object detection network (ObjNet), attribute prediction network (AttNet), transfer network (TransNet), relationship prediction network (RelNet). Conducting several experiments with 3D simulated indoor environments provided by AI2-THOR, we confirmed that the proposed model shows high performance.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.153.5-153
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• 2001

This paper presents a simple modeling system that constructs 3D models from an indoor cylindrical environment map using all of the available geometry of the interior structure such as vertical and horizontal lines and parallel and perpendicular planes. The indoor scene abstract model is created through this system and the navigation through the process of 3D reconstruction. This system first automatically detects the vanishing points in a cylindrical environment map from parallel lines and planes, and determines the indoor scene topology previously defined using this information. The determined topology enables he user intervention UI simply construct a 3D model by using the photogrammetry. The modeling system can be ...

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.61-63
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• 2005

Retreiving indoor scene reference image from database using visual information is important issue in Robot Navigation. Scene matching problem in navigation robot is not easy because input image that is taken in navigation process is affinly distorted. We represent probabilistic framework for the feature matching between features in input image and features in database reference images to guarantee robust scene matching efficiency. By reconstructing probabilistic scene matching framework we get a higher precision than the existing feaure-feature matching scheme. To construct probabilistic framework we represent each image as Gaussian Mixture Model using Expectation Maximization algorithm using SIFT(Scale Invariant Feature Transform).

• Journal of Internet Computing and Services
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• v.12 no.2
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• pp.19-28
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• 2011

Recently, ubiquitous computing and related technologies is more and more growing concern about. Depending on the trend, the moving object recognition and tracking research have been required in order to meet the diverse needs of the user. In the location-based services, one of the most important issues in the indoor environment is to provide location-aware services. In this paper, the effective algorithm to help estimate the position of moving objects in an indoor environment is proposed. We propose an algorithm that combined the existing trilateration measurement and the improved measurement of environmental adaptation scene analysis. The proposed indoor location estimation algorithm use the trilateration measurement when we have enough anchor in the line-of-sight environment. Otherwise that use measurement of environmental adaptation scene analysis. Consequently, the proposed algorithm has been improved the localization accuracy of a moving object as well as was able to reduce complexity of the algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.3
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• pp.384-390
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• 2020

The reverberation effect on the sound when producing movies or VR contents is a very important factor in the realism and liveliness. The reverberation time depending the space is recommended in a standard called RT60(Reverberation Time 60 dB). In this paper, we propose a scene recognition technique for automatic reverberation editing. To this end, we devised a classification model that independently trains color images and predicted depth images in the same model. Indoor scene classification is limited only by training color information because of the similarity of internal structure. Deep learning based depth information extraction technology is used to use spatial depth information. Based on RT60, 10 scene classes were constructed and model training and evaluation were conducted. Finally, the proposed SCR + DNet (Scene Classification for Reverb + Depth Net) classifier achieves higher performance than conventional CNN classifiers with 92.4% accuracy.

• The Journal of the Korea Contents Association
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• v.10 no.4
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• pp.66-75
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• 2010

In Augmented Reality, it needs restoration and tracking of a real-time scene structure for the augmented 3D model from input video or images. Most of the previous approaches construct accurate 3D models in advance and try to fit them in real-time. However, it is difficult to measure 3D model accurately and requires long pre-processing time to construct exact 3D model specifically. In this research, we suggest a real-time scene structure analysis method for the wide indoor mobile augmented reality, using only generic models without exact pre-constructed models. Our approach reduces cost and time by removing exact modeling process and demonstrates the method for restoration and tracking of the indoor repetitive scene structure such as corridors and stairways in different scales and details.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.5
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• pp.48-55
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• 2009

Prior research works in indoor-outdoor classification have been conducted based on a simple combination of low-level features. However, since there are many challenging problems due to the extreme variability of the scene contents, most methods proposed recently tend to combine the low-level features with high-level information such as the presence of trees and sky. To extract these regions from videos, we need to conduct additional tasks, which may yield the increasing number of feature dimensions or computational burden. Therefore, an efficient indoor-outdoor scene classification method is proposed in this paper. First, the video is divided into the five same-sized blocks. Then we define and use the edge and color orientation histogram (ECOH) descriptors to represent each sub-block efficiently. Finally, all ECOH values are simply concatenated to generated the feature vector. To justify the efficiency and robustness of the proposed method, a diverse database of over 1200 videos is evaluated. Moreover, we improve the classification performance by using different weight values determined through the learning process.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.996-1002
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• 2015

In this paper, we present an effective system for the 3D scene labeling of objects from RGB-D videos. Our system uses a Markov Random Field (MRF) over a voxel representation of the 3D scene. In order to estimate the correct label of each voxel, the probabilistic graphical model integrates both scores from sliding window-based object detectors and also from object location prior maps. Both the object detectors and the location prior maps are pre-trained from manually labeled RGB-D images. Additionally, the model integrates the scores from considering the geometric constraints between adjacent voxels in the label estimation. We show excellent experimental results for the RGB-D Scenes Dataset built by the University of Washington, in which each indoor scene contains tabletop objects.

• The Magazine of the IEIE
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• v.23 no.12
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• pp.115-125
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective Invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel sloe-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world experiments In Indoor environments using an indoor mobile robot, KASIRI-II(KAist Simple Roving Intelligence).