• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.36S no.11
• /
• pp.102-111
• /
• 1999

In this paper, we propose a fast full search block matching algorithm using the search region subsampling and the difference of adjacent pixels in current block. In the proposed algorithm, we calculate the lower bound of mean absolute difference (MAD) at each search point using the MAD value of neighbor search point and the difference of adjacent pixels in current block. After that, we perform block matching process only at the search points that need block matching process using the lower bound of MAD at each search point. To calculate the lower bound of MAD at each search point, we need the MAD value of neighbor search point. Therefore, the search points are subsampled at the factor of 4 and the MAD value at the subsampled search points are calculated by the block matching process. And then, the lower bound of MAD at the rest search points are calculated using the MAD value of the neighbor subsampled search point and the difference of adjacent pixels in current block. Finally, we discard the search points that have the lower bound of MAD value exceed the reference MAD which is the minimum MAD value of the MAD values at the subsampled search points and we perform the block matching process only at the search points that need block matching process. By doing so, we can reduce the computation complexity drastically while the motion compensated error performance is kept the same as that of full search block matching algorithm (FSBMA). The experimental results show that the proposed method has a much lower computational complexity than that of FSBMA while the motion compensated error performance of the proposed method is kept same as that of FSBMA.

• Journal of Korean Society for Geospatial Information Science
• /
• v.18 no.2
• /
• pp.93-97
• /
• 2010

This paper presents the improved KLT(Kanade-Lucas-Tomasi) of registration of Image sequence captured by camera mounted on unmanned helicopter assuming without camera attitude information. It consists of following procedures for the proposed image registration. The initial interested points are detected by characteristic curve matching via dynamic programming which has been used for detecting and tracking corner points thorough image sequence. Outliers of tracked points are then removed by using Random Sample And Consensus(RANSAC) robust estimation and all remained corner points are classified as inliers by homography algorithm. The rectified images are then resampled by bilinear interpolation. Experiment shows that our method can make the suitable registration of image sequence with large motion.

• Journal of Broadcast Engineering
• /
• v.20 no.5
• /
• pp.728-737
• /
• 2015

Stitching algorithm obtain a descriptor of the feature points extracted from multiple images, and create a single image through the matching process between the each of the feature points. In this paper, a feature extraction and matching techniques for the creation of a high-speed panorama using video input is proposed. Features from Accelerated Segment Test(FAST) is used for the feature extraction at high speed. A new feature point matching process, different from the conventional method is proposed. In the matching process, by tracking region containing the feature point through the Mean shift vector required for matching is obtained. Obtained vector is used to match the extracted feature points. In order to remove the outlier, the RANdom Sample Consensus(RANSAC) method is used. By obtaining a homography transformation matrix of the two input images, a single panoramic image is generated. Through experimental results, we show that the proposed algorithm improve of speed panoramic image generation compared to than the existing method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.10
• /
• pp.965-971
• /
• 2015

This paper suggests a feature point-based Iterative Closest Point (ICP) algorithm to compensate for the disparity error in building a two-dimensional map. The ICP algorithm is a typical algorithm for matching a common object in two different images. In the process of building a two-dimensional map using the laser scanner data, warping and distortions exist in the map because of the disparity between the two sensor values. The ICP algorithm has been utilized to reduce the disparity error in matching the scanned line data. For this matching process in the conventional ICP algorithm, pre-known reference data are required. Since the proposed algorithm extracts characteristic points from laser-scanned data, reference data are not required for the matching. The laser scanner starts from the right side of the mobile robot and ends at the left side, which causes disparity in the scanned line data. By finding the matching points between two consecutive frame images, the motion vector of the mobile robot can be obtained. Therefore, the disparity error can be minimized by compensating for the motion vector caused by the mobile robot motion. The validity of the proposed algorithm has been verified by comparing the proposed algorithm in terms of map-building accuracy to conventional ICP algorithm real experiments.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.18 no.3
• /
• pp.315-322
• /
• 2000

DSM(Digital Surface Model) is a digital model which represents the surface elevation of a region. DSM is necessary for orthoimage generation, and frequently used in man-made object extraction from aerial photographs nowadays. Image matching technique enables automatic DSM generation. This proposed a image matching method which can be applied to automatic generation of DSM for Built-up Area. The matching method proposed is to find conjugate points and conjugate lines from overlapping aerial images. In detecting conjugate points, the positional relation between possible conjugate point pair as well as correlation of pixel gray value is compared. In detecting conjugate lines, the color attribute of flank region of line, shape of line, positional relation between neighborhood points and lines, and the connection relation between lines are compared. The proposed matching method is assumed to be useful for DSM generation including Built-up Area.

• Journal of Broadcast Engineering
• /
• v.20 no.2
• /
• pp.257-264
• /
• 2015

In this paper, Enhanced binary block matching method for Constrained one-bit transform (C1BT) based motion estimation is proposed. Binary motion estimation exploits the Number of non-matched points (NNMP) as a block matching criterion instead of the Sum of Absolute Differences (SAD) for low complex motion estimation. The motion estimation using SAD could use the smaller block for more accurate motion estimation. In this paper the enhanced binary block matching method using smaller motion estimation block for C1BT is proposed to the more accurate binary matching. Experimental results shows that the proposed algorithm has better Peak Signal to Noise Ration (PSNR) results compared with conventional binary transform algorithms.

• The KIPS Transactions:PartB
• /
• v.17B no.1
• /
• pp.37-46
• /
• 2010

In this paper we have presented a two dimensional model based tracking system using improved chamfer matching. Conventional chamfer matching could not calculate similarity well between the object and image when there is very cluttered background. Then we have improved chamfer matching to calculate similarity well even in very cluttered background with edge and corner feature points. Improved chamfer matching is used as likelihood function of particle filter which tracks the geometric object. Geometric model which uses edge and corner feature points, is a discriminant descriptor in color changes. Particle Filter is more non-linear tracking system than Kalman Filter. Then the presented method uses geometric model, particle filter and improved chamfer matching for tracking object in complex environment. In experimental result, the robustness of our system is proved by comparing other methods.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.1
• /
• pp.12-17
• /
• 2005

The segment matching method shows better performance than the global and points-based methods to compare reference signature with an input signature. However, the segment-to-segment matching method has the problem of decreasing recognition rate according to the variation of partitioning points. This paper proposes a fusion model based on the segment matching and HMM to construct a more reliable authentic system. First, a segment matching classifier is designed by conventional technique to calculate matching values lot dynamic information of signatures. And also, a novel HMM classifier is constructed by using the principal component analysis to calculate matching values for static information of signatures. Finally, SVM classifier is adopted to effectively combine two independent classifiers. From the various experiments, we find that the proposed method shows better performance than the conventional segment matching method.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.7
• /
• pp.1110-1119
• /
• 2003

This paper deals with the synthesis of the 3-dimensional grasp planning for unknown objects. Previous studies have many problems, which the estimation time for finding the grasping points is much long and the analysis used the not-perfect 3-dimensional modeling. To overcome these limitations in this paper new algorithm is proposed, which algorithm is achieved by two steps. First step is to find the whole 3-dimensional geometrical modeling for unknown objects by using stereo matching. Second step is to find the optimal grasping points for unknown objects by using the neural network trained by the result of optimization using genetic algorithm. The algorithm is verified by computer simulation, comparing the result between neural network and optimization.

• The Transactions of the Korea Information Processing Society
• /
• v.6 no.4
• /
• pp.1120-1128
• /
• 1999

The model-based object recognition is defined as a graph matching process between model images and an input image. In this paper, a graph matching problem is modeled as a n optimization problems and a genetic algorithm is proposed to solve the problems. For this work, fitness function, data structured and genetic operators are developed The simulation results are shown that the proposed genetic algorithm can match feature points between model image and input image for recognition of partially occluded two-dimensional objects. The performance fo the proposed technique is compare with that of a neural network technique.