• 센서학회지
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• 제6권2호
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• pp.123-130
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• 1997

이 논문은 다음과 같은 두가지 요소로 구성되는 독창적인 stereo vision system을 논술한다. declivity라는 새로운 개념을 도입한 자동선택 영상 분할처리 (self-adaptive image segmentation process) 와 자동선택 결정변수 (self-adaptive decision parameters) 를 응용하여 설계된 신속한 stereo matching algorithm. 현재, 실내 image의 depth map을 완성하는데 SUN-IPX 에서 3sec가 소요되나 연구중인 DSP Chip의 조합은 이 시간을 1초 이하로 단축시킬 수 있을 것이다.

• 한국측량학회지
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• 제37권2호
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• pp.55-62
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• 2019

The stereo geometry establishment based on the precise sensor modeling is prerequisite for accurate stereo data processing. Ground control points are generally required for the accurate sensor modeling though it is not possible over the area where the accessibility is limited or reference data is not available. For the areas, the relative orientation should be carried out to improve the geometric consistency between the stereo data though it does not improve the absolute positional accuracy. The relative orientation requires conjugate points that are well distributed over the entire image region. Therefore the automatic conjugate point extraction is required because the manual operation is labor-intensive. In this study, we applied the method consisting of the key point extraction, the search space minimization based on the epipolar line, and the rigorous outlier detection based on the RPCs (Rational Polynomial Coefficients) bias compensation modeling. We tested different parameters of window sizes for Kompsat-2 across track stereo data and analyzed the RPCs precision after the bias compensation for the cases whether the epipolar line information is used or not. The experimental results showed that matching outliers were inevitable for the different matching parameterization but they were successfully detected and removed with the rigorous method for sub-pixel level of stereo RPCs precision.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2200-2202
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• 1998

Autonomous mobile robot provide many functions such as sensing, processing, and driving. For more intelligent jobs, more intelligent functions are to be added and the existing functions may be updated. To execute a job autonomous mobile robot has a information of surrounding environment. So, robot uses sonar sensor, vision sensor and so on. Obtained sensor information is used map generation. This paper is focused on map generation using stereo vision system.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.182-182
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• 2003

Generally, DEM (Digital Elevation Model) is generated by stereo-images acquired same conditions, sensor type, viewing angle, capturing elevation and etc. It is difficult to generate DEM with stereo images acquired different satellite. This study intends that it is DEM generation using pair-images with other sensor systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.529-531
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• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권6호
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• pp.366-371
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• 2005

For an autonomous mobile robot localization, it is very important for the robot to be able to recognize indoor environment and match a detected object to an object defined within a map developed either online or of offline. Given the map defining the locations of geometric beacons like wall and corner existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method practically applicable in recognizing the geometric beacons in real-time. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter Experimental results are provided to demonstrate that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• Journal of Advanced Marine Engineering and Technology
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• 제36권5호
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• pp.674-682
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• 2012

A new intelligent stereo vision sensor system was studied for the motion and depth control of unmanned vehicles. A new bottom-up saliency map model for the human-like active stereo vision system based on biological visual process was developed to select a target object. If the left and right cameras successfully find the same target object, the implemented active vision system with two cameras focuses on a landmark and can detect the depth and the direction information. By using this information, the unmanned vehicle can approach to the target autonomously. A number of tests for the proposed bottom-up saliency map were performed, and their results were presented.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume II
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• pp.860-863
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• 2006

Epipolar images have to be generated to stereo display aerial images or satellite images. Pushbroom sensor is used to acquire high resolution satellite images. These satellite images have curvilinear epipolar lines unlike the epipolar lines of frame images, which are straight lines. The aforementioned fact makes it difficult to generate epipolar images for pushbroom satellite images. If we assume a linear transition of the sensor having constant speed and attitude during image acquisition, we can generate epipolar images based on parallel projection model (2D Affine model). Recent high resolution images are provided with RPC values so that we can exploit these values to generate epipolar images without using ground control points and tie point. This paper provides a procedure based on the parallel projection model for generating epipolar images directly from a stereo IKONOS images, and experimental results.

• 대한원격탐사학회지
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• 제22권5호
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• pp.451-456
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• 2006

Epipolar images have to be generated to stereo display aerial images or satellite images. Pushbroom sensor is used to acquire high resolution satellite images. These satellite images have curvilinear epipolar lines unlike the epipolar lines of frame images, which are straight lines. The aforementioned fact makes it difficult to generate epipolar images for pushbroom satellite images. If we assume a linear transition of the sensor having constant speed and attitude during image acquisition, we can generate epipolar images based on parallel projection model (20 Affine model). Recent high resolution images are provided with RPC values so that we can exploit these values to generate epipolar images without using ground control points and tie point. This paper provides a procedure based on the parallel projection model for generating epipolar images directly from a stereo IKONOS images, and experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.603-605
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• 2005

In this paper, we deal with a calibration method for low cost motion capture sensor using PSD (Position Sensitive Detection). The PSD sensor is employed to measure the direction of incident light from moving markers attached to motion body. To calibrate the PSD optical module, a conventional camera calibration algorithm introduced by Tsai. The 3-dimensional positions of the markers are measured by using stereo camera geometry. From the experimental results, the low cost motion capture sensor can be used in a real time system.