• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.4
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• pp.389-394
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• 2002

In this paper, we propose a robust stereo matching algorithm using nonlinear extended Kalman filter. The proposed algorithm estimates disparity using nonlinear extended Kalman filter and compares left image to right image for obtained disparity. As this process is run iteratively, we get disparity only with a few search. And, we can get robust stereo matching results by comparing left image to right image using bilinear interpolation to consider influence of neighborhood pixel. We compared SSD algorithm which is widely used, in stereo matching method, to result of the proposed algorithm. As the result, the proposed algorithm has an outstanding matching performance.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.658-663
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• 2003

A process of 3-D stereo particle image velocimetry(PIV)was developed for the measurement of an illuminated sliced section field of 3-D complex flows. The present method includes modeling of camera by a calibrator based on the homogeneous coordinate system, transformation of the oblique-angled image to the right-angled image, identification of 2-D velocity vectors by 2-D cross-correlation equation, stereo matching of 2-D velocity vectors of two cameras, accurate calculation of 3-D velocity vectors by homogeneous coordinate system, removal of error vectors by a statistical method followed by a continuity equation criteria, and finally 3-D display as the post processing. An experimental system was also used for the application of the proposed method. Two high speed digital CCD cameras and an Argon-Ion Laser for the illumination were adopted to clarify the time-dependent characteristics of the leading edge extension(LEX) in a highly swept shape applied to a delta wing found in modern air-fighters.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.6
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• pp.591-597
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• 2014

A wide variety of image application methods, such as aerial image, terrestrial image, terrestrial laser, and stereo image point are currently under investigation to develop three-dimensional 3D geospatial information. In this study, matching points, which are needed to build a 3D model, were examined under diverse weather conditions by analyzing the stereo images recorded by closed circuit television (CCTV) cameras installed in the U-City. The tests on illuminance and precipitation conditions showed that the changes in the number of matching points were very sensitively correlated with the changes in the illuminance levels. Based on the performances of the CCTV cameras used in the test, this study was able to identify the optimal values of the shutter speed and iris. As a result, compared to an automatic control mode, improved matching points may be obtained for images filmed using the data obtained through this test in relation to different weather and illuminance conditions.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.20 no.3
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• pp.331-341
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• 2002

In order to extract 3-dimensional information from 2-D image, stereo images are prerequisite. Moreover, for the measurement of moving objects, the synchronized sequential stereo images have to be captured and image matching should be implemented for determining the location of moving objects. In this research, a simple method computing 3-dimensional coordinates from sequential images of moving objects was implemented. The sequential stereo images were captured by a video camera with a beam splitter. Once video images were digitalized by frame grabber, the interest points were extracted and matched in each stereo image, and the coordinates of center of them are calculated using weighted average method. Then, 3-dimensional coordinates of moving objects were computed by DLT algorithms.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.4
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• pp.423-431
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• 2008

The control surveying which aims at identifying the coordinate system of satellite images with that of ground is a repeatedly performed essential process to produce digital ortho - photos and it acts as the main factor to increase the production cost of the photos by duplicated budgets and redundant works when executing the projects for acquiring basic geographical information from high density satellite images. During the experimentation, an application system was established for producing a stereo image chip by the analysis of DPPDB file structure, the stereo image chip was produced with SPOT and IKONOS images, the analysis of 3D modeling accuracy was performed to secure the required accuracy and to present the optimal number and deployment of the control points, and a 3D modeling was performed for new SPOT images and lastly, 3D ground coordinates were extracted by the observation of the same points through the overlapping with the new images. As the results of the research, it is proved that the stereo image chip can be used as the ground controls through the accuracy analysis between the coordinates of the images and the ground, close results were obtained between the coordinates by the ground survey and those by the 3D modeling using new images and the observation of the same points, positional changes were not found during observing the same points, and the research presented the methodology for improving the process of the control survey by showing the availability of the image controls on the stereo image chip instead of the ground controls.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.667-670
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• 2005

Ground control points(GCPs) can be extracted from SAR data given precise orbit for DTM generation using optic images and other SAR data. In this study, we extract GCPs from ERS SAR data and SRTM DEM. Although it is very difficult to identify GCPs in ERS SAR image, the geometry of optic image and other SAR data are able to be corrected and more precise DTM can be constructed from stereo optic images. Twenty GCPs were obtained from the ERS SAR data with precise Delft orbit information. After the correction was applied, the mean values of planimetric distance errors of the GCPs were 3.7m, 12.1 and -0.8m with standard deviations of 19.9m, 18.1, and 7.8m in geocentric X, Y, and Z coordinates, respectively. The geometries of SPOT stereo pair were corrected by 13 GCPs, and r.m.s. errors were 405m, 705m and 8.6m in northing, easting and height direction, respectively. And the geometries of RADARS AT stereo pair were corrected by 12 GCPs, and r.m.s. errors were 804m, 7.9m and 6.9m in northing, easting and height direction, respectively. DTMs, through a method of area based matching with pyramid images, were generated by SPOT stereo images and RADARS AT stereo images. Comparison between points of the obtained DTMs and points estimated from a national 1 :5,000 digital map was performed. For DTM by SPOT stereo images, the mean values of distance errors in northing, easting and height direction were respectively -7.6m, 9.6m and -3.1m with standard deviations of 9.1m, 12.0m and 9.1m. For DTM by RADARSAT stereo images, the mean values of distance errors in northing, easting and height direction were respectively -7.6m, 9.6m and -3.1m with standard deviations of 9.1m, 12.0m and 9.1m. These results met the accuracy of DTED level 2

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.42-47
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• 2005

In this papcr, we address the 3D reconstruction of the indoor circumstance using what the data is extracted by a pall of image from Stereo Camera. Generally sucaking, there arc three methods to extract 3-Dimensional data using IR sensor, Laser sensor and Stereo camera sensor. The best is stereo camera sensor which can show a high performance at a reasonable price. We used 'Window Correlation Matching Method' to extract 3-Dimensional data in stereo image. We proposed new Method to reduce error data, said 'Histogram Weighted Hough Transform'. Owing to this mettled, we reduced error data in each stereo image. So reconstruction is well done. 3-Dimensional Reconstruction is accomplished by using the DirectX that is well known as 3D-Game development tool. We show that the stereo camera can be not only used to extract 3-dimensional data but also applied to reconstruct the 3-Dimensional circumstance. And we try to reduce the error data using various method.

• Journal of the Korean Society of Hazard Mitigation
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• v.11 no.3
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• pp.57-61
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• 2011

Large scale natural disasters such as floods and typhoons due to climate change have recently occurred with severe damage in all over the world. Especially, current disaster investigation in affected area takes too much time because it can be done by handcrafted. Also, it is lack of somewhat accuracy and objectiveness because it is influenced by investigator's judgment. Further, the current disaster investigation is difficult when damage area is very wide or investigator can't reach the affected area. Hence, we developed the integrated damage investigation system using stereo images and information technology for quick, accurate and objective investigation. Also, we applied the system to Bonghwa-gun in Gyeongsangbuk-do in 2008, Jecheon-si in Chungcheongbuk-do in 2009, and Namwon-si in Jeollabuk-do and Hapcheon-gun in Gyeongsangnam-do in 2010. This paper presents advancement and application of integrated damage investigation system using stereo images and information technology considering mobility, stability and user convenience in field.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.4C
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• pp.424-432
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• 2003

In this paper, an effective method of stereo image reconstruction through the regularized adaptive disparity estimation is proposed. Althougth the conventional adaptive disparity estimation method can sharply improve the PSNR of a reconstructed stereo image, but some problems of overlapping between the matching windows and disallocation of the matching windows can be occurred, because the matching window size changes adaptively in accordance with the magnitude of feature values. Accordingly, in thia paper, a new regularized adaptive disparity estimation technique is proposed. That is, by regularizing the estimated disparity vector with the neughboring disparity vectors, problems of the conventional adaptive disparity estimated scheme might be solved, and also the predicted stereo image can be more effectively reconstructed. From some experiments using the CCETT'S stereo image pairs of 'Man' and 'Claude', it is analyzed that the proposed disparity estimation scheme can improve PSNRs of the reconstructed images to 10.89dB, 6.13dB for 'Man' and 1.41dB, 0.81dB for 'Claude' by comparing with those of the conventional pixel-based and adaptive estimation method, respectively.