• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1862-1870
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• 1997

A fast and precise technique to measure 3-dimensional coordinates of an object is proposed. It is essential to take the 3-dimensional measurements of the object in design and inspection. Using this developed system a surface model of a complex shape can be constructed. 3-dimensional world coordinates are projected onto a camera plane by the perspective transformation, which plays an important role in this measurement system. According to the shape of the object two measuring methods are proposed. One is rotation of an object and the other is translation of measuring unit. Measuring speed depending on image processing time is obtained as 200 points per second. Measurement resolution i sexperimented by two parameters among others; the angle between the laser beam plane and the camera, and the distance between the camera and the object. As a result of these experiments, it was found that measurement resolution ranges from 0.3mm to 1.0mm. This constructed surface model could be used in manufacturing tools such as rapid prototyping machine.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.811-819
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• 2017

A behavior pattern analysis algorithm based on descriptors consists of information of a moving object and temporal histogram is proposed. Background learning is performed first for detecting, tracking and analyzing moving objects. Each object is identified using an association of the center of gravity of objects and tracked individually. A temporal histogram represents a motion pattern using positions of the center of gravity and time stamp of objects. The characteristic and behavior of objects are figured out by comparing each coordinates of a position history in the histogram. Behavior information which is comprised with numbers of a start and end frame, and coordinates of positions of objects is stored and managed in the linked list. Descriptors are made with the stored information and the video retrieval algorithm is designed. We confirmed the higher retrieval accuracy compare with conventional methods.

• Journal of the Optical Society of Korea
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• v.5 no.4
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• pp.140-145
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• 2001

We present a new method of volumetric interferometer, which is intended to measure the three-dimensional coordinates of a moving object in a simultaneous way with a single optical setup. The method is based on the principles of phase-measuring interferometry with phase shifting. Two diffraction point sources, which are made of the polished ends of single-mode optical fibers are embedded on the object. Two spherical wavefronts emanate from the diffraction point sources and interfere with each other within the measurement volume. One wavefront is phase-shifted by elongating the corresponding fiber using a PZT extender. A CCD array sensor fixed at the stationary measurement station detects the resulting interference field. The measured phases are then related to the three-dimensional location of the object with a set of non-liner equations of Euclidean distance, from which the complete set of three-dimensional spatial coordinates of the object is determined through rigorous numerical computation based upon the least square error minimization.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.6
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• pp.99-104
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• 2021

The technology of estimating a movement trajectory using a monocular camera such as a smartphone and composing a surrounding 3D image is key not only in indoor positioning but also in the metaverse service. The most important thing in this technique is to estimate the coordinates of the moving camera center. In this paper, a new algorithm for geometrically estimating the moving distance is proposed. The coordinates of the 3D object point are obtained from the first and second photos, and the movement distance vector is obtained using the matching feature points of the first and third photos. Then, while moving the coordinates of the origin of the third camera, a position where the 3D object point and the feature point of the third picture coincide is obtained. Its possibility and accuracy were verified by applying it to actual continuous image data.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.641-647
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• 2015

This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal path from the start point to the destination point. To lengthen the freight time of the quad-rotor, an optimal path is required to reduce the energy consumption. To track a moving object, the mark signed on the moving object has been detected by a camera mounted first on the quad-rotor. The center coordinates of the mark and its area are calculated through the blob analysis which is one type of image processing. The mark coordinates are utilized to obtain information on the motion direction and the area of the mark is utilized to recognize whether the object moves backward or forward from the camera on the quad-rotor. In addition, an extended Kalman filter has been applied to predict the direction and speed of the dynamically moving object. Through these schemes, it is aimed that the quad-rotor can track the dynamic object efficiently in terms of flight distance and time. Through the two different route freights of the quad-rotor, the performance of the proposed system has been demonstrated.

• Journal of Korea Society of Industrial Information Systems
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• v.4 no.4
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• pp.143-148
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• 1999

This paper presents a method which enables raster maps to be used like vector maps in the wed environment and develops a raster map viewer which can be executed in the wed browser. Through the preprocessing process the coordinates attached to each object in the raster map can be used as vector information. The raster map viewer makes the spatial analysis possible using the attribute database connected to the coordinates of each object, This map viewer makes the Web GIS can be constructed at the lower cost because the viewer uses the characteristics of raster map. And the map viewer has merit point of easily developing a component for spatial analysis.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.242-245
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• 2009

This paper proposes an algorithm that increases the speed of generating a Fresnel hologram using a recursive addition operation covering the whole coordinate array of a digital hologram. The 3D object designed to calculate the digital hologram used the depth-map image produced by computer graphics (CG). The proposed algorithm is a technique that performs CGH (computer generated hologram) operation with only the recursive addition from the hologram's whole coordinates by analyzing the regularity between the 3D object and the digital hologram coordinates. The experimental results showed that the proposed algorithm increased operation speed by 30% over the technique using the conventional CGH equation.

• Journal of information and communication convergence engineering
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• v.11 no.4
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• pp.282-287
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• 2013

A real-time digital holographic display is the core technology for the next-generation 3DTV. Holographic display requires a considerably large amount of calculation. If generating a large number of digital holograms is intended, the amount of calculation and the time required increase exponentially. This is a significant obstacle in a real-time hologram service. This paper proposes an algorithm that increases the speed of generating a Fresnel hologram by using a recursive addition operation covering the entire coordinate array of a digital hologram. The 3D object designed to calculate the digital hologram uses a depth-map image produced by computer graphics. The proposed algorithm is a technique that performs the computer-generated holography (CGH) operation with only recursive addition of all of the hologram's coordinates by analyzing the regularity between the 3D object and the digital hologram coordinates. The experimental results show that the proposed algorithm increases the operation speed by 70% over the technique using the conventional CGH equation and by more than 30% over the previously proposed recursive technique.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.612-614
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• 2003

In this paper we propose four-dimensional (4D) operators, which can be used to deal with sequential changes of topological relationships between 4D moving objects and we call them 4D development operators. In contrast to the existing operators, we can apply the operators to real applications on 4D moving objects. We also propose a new approach to define them. The approach is based on a dimension-separated method, which considers x-y coordinates and z coordinates separately. In order to show the applicability of our operators we show the algorithms for the proposed operators and development graph between 4D moving objects.