• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.1
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• pp.69-83
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• 2020

Signboards are standardized according to national legislation for the safety of pedestrians and disaster prevention in urban areas. Signboards should be installed according to the standard. However, it is not easy to manage the signboards systematically due to the number of signboards that have been installed for a long time and frequently changing stores. In this study, we proposed a methodology for distinguishing signboards that deviated from the standard. To this end, the signboard was photographed using a stereo camera, and then the three-dimensional coordinates of the signboard were determined from the signboard image to calculate the signboard's horizontal and vertical dimensions to determine the signboard's specifications. In order to determine the interior and relative orientation parameters of the stereo camera, an outdoor three-dimensional building was used as the test field. Then, the image coordinates of four vertices of the signboard were extracted from the signboard image taken from about 15m ~ 22m distance using deep learning. After determining the signboard's three-dimensional coordinates by using the interior and relative orientation parameters of the stereo camera and the image coordinates of the four vertices of the signboard, the horizontal and vertical sizes of the signboard were calculated, resulting in an error of about 2.7cm on average. The specifications for the ten flat-type signboards showed that all of the horizontal sizes were compliant with the specifications, but the vertical sizes exceeded about 36.5cm on average. Through this, it was found that maintenance of flat-type signboards is needed overall.

• 한국지구물리탐사학회:학술대회논문집
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• 2003.11a
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• pp.526-528
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• 2003

There are some reports which are about measuring the discontinuity from 3D model of rock surface. To generate 3D model is mainly based on remote sensing technique like laser scanning and digital stereo photogrammetry. It is obtained the DEM of the rock slope using above techniques in this study, and examined a suitability and improvement of the photogrammetry for the rock slope by overlap the DEM. It seems that accuracy of DEM generated by photogrammetry technique is influenced by the geometry of rock and type of joint.

• Proceedings of the KSRS Conference
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• 2003.11a
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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.

• Proceedings of the IEEK Conference
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• 2001.06b
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• pp.93-96
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• 2001

A design methodology of analog circuits for a CMOS stereo 16-bit Δ$\Sigma$ DAC which are suitable for the digital audio applications is described. The limitations of Δ$\Sigma$ DAC exist in the performance of the 1-bit DAC and that of the smoothing filter. The proposed architecture for analog circuits contains the buffer between the digital modulator and the following analog stage and adopts the SCF (switched capacitor filter) and DSC (differential-to-single converter) scheme. In this paper, a guide line for the selection of the filter type for the SCF design in the Δ$\Sigma$ DAC is suggested through the analytical approaches.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.237-247
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• 2018

In this paper, we describe a sensor module that monitors fire environment by analyzing fire characteristics. We analyzed the smoke characteristics of indoor fire. Six different environments were defined according to the type of smoke and the flame, and the sensors available for each environment were combined. Based on this analysis, the sensors were selected from the perspective of firefighter. The sensor module consists of an RGB camera, an infrared camera and a radar. It is designed with minimum weight to fit on the robot. the enclosure of sensor is designed to protect against the radiant heat of the fire scene. We propose a single camera mode, thermal stereo mode, data fusion mode, and radar mode that can be used depending on the fire scene. Thermal stereo was effectively refined using an image segmentation algorithm, SLIC (Simple Linear Iterative Clustering). In order to reproduce the fire scene, three fire test environments were built and each sensor was verified.

• Journal of the Korea Society of Computer and Information
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• v.11 no.2 s.40
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• pp.83-92
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• 2006

This paper describes an image disparity estimation method using region-based stereo matching. Region-based disparity estimation yields a disparity map as the unit of segmented region. However it estimates disparity imprecisely because it not only has matching errors but also applies an identical way to disparity estimation, which does not consider each type of matched regions. To solve this problem, we proposes a disparity estimation method which considers the type of matched regions. That is, the proposed method classifies whole matched regions into a similar-matched region, a dissimilar-matched region, a false-matched region and a miss-matched region. We then performs proper disparity estimation for each type of matched regions. This method minimizes the error in estimating disparity which is caused by inaccurate matching and also improves the accuracy of disparity of the well-matched regions. The experimental results show the improved accuracy of the proposed method.

• Journal of Biomedical Engineering Research
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• v.19 no.5
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• pp.531-538
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• 1998

This paper represents the design of 3D endoscopic image processing system in order to Improve visualization and enhance the ability of the surgeon to perform delicate endoscopic surgery. The proposed 3D systems have four features of stereo endoscopic image processing The multiplexer give field seauential stereo for recording and for aligning cameras and viewing stereo with 3D monitor. Demultiplexing of the field sequential image which separates out the R and L images for dual TFT-LCD 3D monitor viewed with passive polarized glasses. separable processing of the left and right eye images, and design of TFT-LCD 3D monitor. The viewing angle, zone, and image quality of the Polarization-type Stereoscopic Display (SM500TFT-3D) system which we have developed using 15 Samsung TFT-1.CD with a screen resolution of 1024×768 pixels were measured and compared with those of Electric Shutter-type Stereoscopic Display system. The result of experiments shows that the Polarization-type Stereoscopic Display System using TFT-LCD has a wade viewing angle and zone which Is necessary fort multi-view and it has better image quality and stability of the optical performances than the Electric Shutter-type does.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.46-52
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• 2016

We propose a new type of semi-global matching (SGM) in order to solve a streaking problem arising from conventional SGM. Conventional SGM imposes a penalty to a pixel when the disparity of the pixel differs from that of the previous pixel along a scan path, and thus, disparity changes are not easily allowed, causing the streaking effect. The road surface is an appropriate target for such an effect, because the colors of the surfaces are very similar, and the image pixels corresponding to the surfaces show disparities that change very smoothly along the viewing direction. In contrast to conventional SGM, the new type of SGM imposes penalties depending on the disparity gradients, and thus, the streaking effect is controlled. The experimental results show the effectiveness of the proposed SGM method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.7
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• pp.1671-1680
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• 2014

There are always much concern about the leakage of radiation materials in the event of dismantle or unexpected accident of nuclear power plant. In order to remove the leakage of radiation materials, appropriate dispersion detection techniques for radiation materials are necessary. However, because direct handling of radiation materials is highly restricted and risky, developing radiation-related techniques needs computer simulation in advance to evaluate the feasibility. In this paper, we propose a radiation imaging technique which can acquire 3D dispersion information of radiation materials and tested by simulation. Using two virtual 1D radiation sensors, we obtain stereo radiation images and acquire the 3D depth to virtual radiation materials using stereo disparity. For point and plane type virtual radiation materials, the possibility of the acquisition of stereo radiation image and 3D information are simulated.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.