• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.474-478
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• 1999

Genetic algorithm is an efficient search method using principles of natural selection and population genetics. In conventional genetic algorithms, however, the size of gene pool should be increased to insure a convergency. Therefore, many memory spaces and much computation time were needed. Also, since child chromosomes were generated by chromosome crossover and gene mutation, the algorithms have a complex structure. Thus, in this paper, a compact stereo matching algorithm using a population-based incremental teaming based on probability vector is proposed to reduce these problems. The PBIL method is modified for matching environment. Since the Proposed algorithm uses a probability vector and eliminates gene pool, chromosome crossover, and gene mutation, the matching algorithm is simple and the computation load is considerably reduced. Even if the characteristics of images are changed, stable outputs are obtained without the modification of the matching algorithm.

• Journal of the Korean Graphic Arts Communication Society
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• v.8 no.1
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• pp.71-87
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• 1990

This paper presents a simple algorithm to obtain three dimensional information of an object. In the preprocessing of the stereo matching,feature point informations of stero image must be less sensitive to noise and well liked the correspondance problem. This paper described a simple technique of struture feature extraction of 3-D object and used edge-end point expanding method for unconnected line instade of Hough transform. The feature such as corner point and their angles are used for matching problem. The experimental results show that the described algorithm is a useful method for stereo correspondence problem.

• 한국정보디스플레이학회:학술대회논문집
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• 2002.08a
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• pp.887-890
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• 2002

In this paper, a new 3D robot vision system using the hierarchical opto-digital algorithm is proposed and implemented. From some experimental results with the 20 frames of the stereo input image pairs, the proposed system is found to be able to effectively extract the area where the target object is located from the stereo input image regardless of the background noises.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.781-787
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• 2015

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.737-738
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• 2008

An implementation of robust stereo matching algorithm under variable illumination conditions is presented in this paper. By applying window-based matchingmethod to global stereo matching algorthm using belief propagation, our implemented system shows low error rate and could efficiently cope with general radiometric disimilarities between images acquired from two different point of views.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.181.5-181
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• 2001

This paper presents the method of 3D reconstruction of the depth information from the endoscopic stereo scopic images. After camera modeling to find camera parameters, we performed feature-point based stereo matching to find depth information. Acquired some depth information is finally 3D reconstructed using the NURBS(Non Uniform Rational B-Spline) algorithm. The final result image is helpful for the understanding of depth information visually.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1175-1180
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• 1991

The purpose of this paper is to improve the matching accuracy in identifying corresponding points in the area-based matching for the processing of stereo vision. For the selection of window size, a new method is proposed based on frequency domain analysis. The effectiveness of the proposed method is confirmed through a series of experiments. To overcome disproportionate distortion in stereo image pair, a new matching method using the warped window is also proposed. In the algorithm, the window is warped according to imaging geometry. Experiments on a synthetic image show that the matching accuracy is improved by 14.1% and 4.2% over the rectangular window method and image warping method each.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1996-1999
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• 2003

Stereo matching is an important technique in the are of computer vision. There are already many theorems to find disparity map using stereo images. Usually, disparity is searched by using block matching. However block matching result in blocking effects caused by using fixed size window for computing pixel correlations. This paper suggests an efficient method to remove the blocking effect in stereo matching procedures.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.541-541
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• 2000

This paper Presents the method of 3D reconstruction of the depth information from the endoscopic stereo scopic images. After camera modeling to find camera parameters, we peformed feature-point based stereo matching to find depth information. Acquired some depth information is finally 3D reconstructed using the NURBS(Non Uniform Rational B-Spline) algorithm. The final result image is helpful for the understanding of depth information visually.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.403-404
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• 2006

In this paper, we proposed muli-dimensional feature vector matching method combined with disparity smoothness constraint. The smoothness constraint was calculated using the difference between disparity of center pixel and those of 4-neighbor pixels. By applying proposed algorithm to IKONOS satellite stereo imagery, we obtained robust stereo matching result in urban areas.