• 한국멀티미디어학회논문지
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• 제11권6호
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• pp.746-754
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• 2008

A 3D stereoscopic image is generated by interdigitating every scene with video editing tools that are rendered by two cameras' views in 3D modeling tools, like Autodesk MAX(R) and Autodesk MAYA(R). However, the depth of object from a static scene and the continuous stereo effect in the view of transformation, are not represented in a natural method. This is because after choosing the settings of arbitrary angle of convergence and the distance between the modeling and those two cameras, the user needs to render the view from both cameras. So, the user needs a process of controlling the camera's interval and rendering repetitively, which takes too much time. Therefore, in this paper, we will propose the 3D stereoscopic image editing system for solving such problems as well as exposing the system's inherent limitations. We can generate the view of two cameras and can confirm the stereo effect in real-time on 3D modeling tools. Then, we can intuitively determine immersion of 3D stereoscopic image in real-time, by using the 3D stereoscopic image preview function.

• 한국통신학회논문지
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• 제27권6B호
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• pp.638-644
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• 2002

본 논문에서는 스테레오그램과 많은 영상들을 자동으로 저장하고 재생할 수 있는 흘로그래픽 광 메모리 기술을 이용하여 3차원 영상 표현 시스템을 구현하였다. 제안된 시스템에서 스테레오 영상들을 저장하고, 재생하기 위해서 기준범의 입사각이 실시 간으로 제어가 되어야 한다. 이를 위해 이진 위상 흘로그램과 LCD를 이용하였다. 즉 기준빔은 SA 알고리듬으로 설계된 이진 위상 흘로그램들을 푸리에 변환 함으로써 얻었고, 이진 위상 홀로그램은 스테레오 영상 재생을 위해 0.05초 간격으로 LCD에 표현했다. 그리고 입력영상들은 입력영상의 밝기에 상관없이 균일한 빔 세기를 유지하도록 편광기가 없는 LCD에 표현하였다. 입력영상과 이진 위상 흘로그램은 영상 저장시 같은 기록 시간 간격을 가지도록 응용 소프트웨어인 포토샵을 이용하여 편집하였다. 재생되는 스테레오 영상은 영상의 위상 정보를 밝기 정보로 바꾸어 주는 편광기 뒤에서 CCD 카메라로 획득함으로써 얻었다. 그리고 출력면에서 입체감을 느끼기 위해 좌우안 영상이 표현되는 모니터에 동기화된 LCD 셔터를 착용하였다. 제안된 흘로그래픽 광메모리 기술을 이용하여 BaTiO$_3$에 네 개의 스테레오 영상을 저장하고, 재생하는 광 실험을 하였다

• 전자공학회논문지SC
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• 제45권6호
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• pp.108-116
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• 2008

본 논문에서는 스테레오 비전에서 시차를 이용하여 근거리뿐만 아니라 원거리의 장애 물체에 대해서도 신뢰성 있는 거리를 추정하기 위한 알고리즘을 제안한다. 시차를 이용한 거리 측정에서 양자화 오차는 원거리에서의 거리 정확도를 떨어뜨리게 되므로, 이를 최소화하기 위해 부화소 보간법(sub-pixel interpolation)을 이용하여 시차 정확도를 향상시키고 거리 정확도 및 경로 추적의 최적화를 위해서 향상된 적응형 퍼지 칼만 필터(EAFSTKF : Enhanced Adaptive Fuzzy Strong Tracking Kalman Filter)를 사용한다. 제안한 방법은 차량과 같이 다양한 동적인 움직임에 의한 비선형성에 대하여 기존 칼만 필터에서 발생되는 발산 문제(divergence problem)를 해결할 수 있고, 거리의 정확도 및 신뢰도도 높일 수 있다. 몬테카를로(Monte Carlo) 방법을 이용한 모의실험 결과 제안한 방법은 기존 방법들과 거리 오차율(RMSER : Root Mean Square Error Rate)을 비교하였을 때, strong tracking Kalman filter(STKF)에 비하여 성능이 약 13.5%정도 향상되었음을 보여준다.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.839-846
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• 2016

Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.

• 대한조선학회논문집
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• 제53권5호
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• pp.371-379
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• 2016

In the ship design process, ship motion and propulsion performance in sea waves became very important issues. Especially, prediction of ship propulsion performance during real operation is an important challenge to ship owners for economic operation in terms of fuel consumption and route-time evaluation. Therefore, it should be considered in the early design stages of the ship. It is thought that the averaged value and fluctuation of effective inflow velocity to the propeller have a great effect on the propulsion performance in waves. However, even for the nominal velocity distribution, very few results have been presented due to some technical difficulties in experiments. In this study, flow measurements near the propeller plane using a stereo PIV system were performed. Phase-averaged flow fields on the propeller plane of a KVLCC2 model ship in waves were measured in the towing tank by using the stereo PIV system and a phase synchronizer with heave motion. The experiment was carried out at fully loaded condition with making surge, heave and pitch motions free at a forward speed corresponding to Fr=0.142 (Re=2.55×106) in various head waves and calm water condition. The phase averaged nominal velocity fields obtained from the measurements are discussed with respect to effects of wave orbital velocity and ship motion. The low velocity region is affected by pressure gradient and ship motion.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 춘계학술대회
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• pp.91-93
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• 2016

2차원 영상으로부터 3차원 정보를 추출하는 과정은 매우 중요한 단계로서 하나의 카메라를 이용하는 단안시법과 두 개의 카메라를 이용하는 양안 시법이 있는 후자를 일반적으로"스테레오 비전"이라고 한다. 요즘 많이 CCTV나 여러 매체에서 사용되고 있는 자동 물체추적 시스템에서 인간의 두 눈을 모방한 스테레오 카메라를 이용하여 현장의 상황이나 작업 전개를 보다 명확하게 알 수 있어 회피/제어 기동 및 여러 작업의 효율을 극대화할 수 있다. 기존의 2D 영상에서의 물체 추적시스템은 거리를 인식할 수 없어 전이를 인식할 수 없었으나 스테레오 영상의 시차를 이용하고 객체를 표시하여 관측자가 보다 효과적으로 제어할 수 있을 것이다.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2007년도 7th International Meeting on Information Display 제7권2호
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• pp.1239-1241
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• 2007

In this paper, we present a tiled display system for tangible meeting. We built our system as a distributed system and use GPU based warping and image blending technique for real-time processing. For efficiency, we update specific area only, where the remote user exist, in real-time and blended it with static panoramic image of remote site.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2003년도 추계학술발표회 논문집
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• pp.303-308
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• 2003

Facility management system has been studied recently due to its increasing demand. As a starting step it is necessary to create 3-D shape of the facility. In this study, we attempted to create 3-D shape of the buildings by fusing the raster and vector information. the raster information comes from stereo aerial photographs and the vector information comes from the existing 2-D digital map. GPS surveying and data conversion using ACAD and ARCINFO also performed to extract building height from stereo aerial photographs. Finally we could be able to perform semi-automatic 3-D building modeling with fusion of two sources of information.

• 로봇학회논문지
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• 제4권2호
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• pp.139-146
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• 2009

This paper describes how a person extracts a unknown object with pointing gesture while interacting with a robot. Using a stereo vision sensor, our proposed method consists of two stages: the detection of the operators' face, the estimation of the pointing direction, and the extraction of the pointed object. The operator's face is recognized by using the Haar-like features. And then we estimate the 3D pointing direction from the shoulder-to-hand line. Finally, we segment an unknown object from 3D point clouds in estimated region of interest. On the basis of this proposed method, we implemented an object registration system with our mobile robot and obtained reliable experimental results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.1243-1246
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• 1998

Three-dimensional(3-D) sound is a technique for generating or recreating sounds so they are perceived as emanating from locations in a three-dimensional space. Three dimensional sound has the potential of increasing the feeling of realism in music or movie soundtracks. Three-dimensional sound effects depend on psychoacoustic spectral and phase cues being presented in a reproduced signal. In this paper we propose an effective algorithm for the sound image expansion in television system using stereo image enhancement techniques. Compared to the other techniques of three-dimensional sound, the proposed algorithm use only two speakers to enhance the sound image expansion, while maintaining the original sound characteristics.