• Journal of Korea Game Society
• /
• v.7 no.4
• /
• pp.63-70
• /
• 2007

Since the fisheye lens has a wide field of view, it can capture the scene and illumination from all directions from far less number of omnidirectional images. Due to these advantages of the omnidirectional camera, it is widely used in surveillance and reconstruction of 3D structure of the scene In this paper, we present a new self-calibration algorithm of omnidirectional camera from uncalibrated images by considering the inlier distribution. First, one parametric non-linear projection model of omnidirectional camera is estimated with the known rotation and translation parameters. After deriving projection model, we can compute an essential matrix of the camera with unknown motions, and then determine the camera information: rotation and translations. The standard deviations are used as a quantitative measure to select a proper inlier set. The experimental results showed that we can achieve a precise estimation of the omnidirectional camera model and extrinsic parameters including rotation and translation.

• KIPS Transactions on Software and Data Engineering
• /
• v.4 no.4
• /
• pp.187-194
• /
• 2015

In this paper, we present an effective visual odometry estimation system to track the real-time pose of a camera moving in 3D space. In order to meet the real-time requirement as well as to make full use of rich information from color and depth images, our system adopts a feature-based sparse odometry estimation method. After matching features extracted from across image frames, it repeats both the additional inlier set refinement and the motion refinement to get more accurate estimate of camera odometry. Moreover, even when the remaining inlier set is not sufficient, our system computes the final odometry estimate in proportion to the size of the inlier set, which improves the tracking success rate greatly. Through experiments with TUM benchmark datasets and implementation of the 3D scene reconstruction application, we confirmed the high performance of the proposed visual odometry estimation method.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.40 no.5
• /
• pp.357-364
• /
• 2003

The main difficulty in estimating the fundamental matrix stems from the unavoidable outliers inherent in the given correspondence matches. Several researches showed that the estimation results are much dependent on selecting the corresponding points. These represent that it is important to solve the problems due to errors on the point locations and mismatches. In this paper, our analysis shows that if the evenly distributed corresponding points are selected, we can estimate a more precise fundamental matrix. This paper presents novel approaches to estimate the fundamental matrix by considering the inlier distributions. In order to select evenly distributed points, we divide the entire image into the subregions, and then examine the number of the inliers in each subregion and the area of each region. The simulation results showed that our consideration of the inlier distribution can provide a more precise estimation of the fundamental matrix.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.23 no.4
• /
• pp.388-393
• /
• 2019

As a fiiting method to data with outliers, RANSAC(RANdom SAmple Consensus) based algorithm is widely used in fitting of line, circle, ellipse, etc. CUDA is currently most widely used GPU with massive parallel processing capability. This paper proposes an efficient CUDA implementation of multiple planes fitting using RANSAC with 3d points data, of which one set of 3d points is used for one plane fitting. The performance of the proposed algorithm is demonstrated compared with CPU implementation using both artificially generated data and real 3d heights data of a PCB. The speed-up of the algorithm over CPU seems to be higher in data with lower inlier ratio, more planes to fit, and more points per plane fitting. This method can be easily applied to a wide variety of other fitting applications.

• Economic and Environmental Geology
• /
• v.53 no.4
• /
• pp.363-381
• /
• 2020

The polymetallic Co, Ni, Cu, As, Au, and Ag deposits of Bou Azzer East are located in the western part of the Bou Azzer inlier in the Central Anti Atlas, Morocco. Six stages of emplacement of the mineralization have been identified. Precious metals (native gold and electrum) are present in all stages of this deposit except the early nickeliferous stage. From the Statistical analysis of the Co, As, Ni, Au, and Ag contents of a set of 501 samples, shows that the Pearson correlation coefficient between As-Co elements (0.966) is the highest followed by that of the Au-Ag couple (0.506). Principal component analysis (PCA) and hierarchical ascending classification (HAC) of the grades show, that Ni is associated with the pair (As-Co) and Cu is rather related to the pair (Au-Ag). The kriging maps show that the highest values of the Co, As and Ni appear in the contact of the serpentinite with other facies, as for those of Au and Ag, in addition to anomalous zones concordant with those of Co, Ni and As, they show anomalies at the extreme South and North of the study area. The development of the anomalous Au and Ag zones is mainly along the N40-50°E and N145°E directions.