• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.161-163
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• 2011

최근 몇 년사이 CCTV에 대한 활용도와 중요성이 대두되고 있으며, CCTV의 해상도 또한 SD급 CCTV에서 HD급 CCTV로 대부분 전환되고 있는 상황이다. HD급 CCTV는 고화질, 고해상도를 제공하는 장점을 갖지만, 많은 데이터 량으로 인해 실시간 처리가 어려운 문제점 또한 포함하고 있다. 또한 CCTV는 지능형 CCTV로의 기술적인 진보를 거듭하고 있으며, 대표적인 solution으로 증강현실(AR:Augmented Reality)을 꼽을 수 있다. 본 논문에서는 HD-CCTV의 최대 장점이라고 할 수 있는 실시간 영상에 선박의 정보(AIS : Automatic Identification System)을 결합하여 실시간으로 항만을 모니터링 하는 시스템을 구현하였다. 또한 750mm Zoom Lens를 탑재한 PanTilt 장비를 이용하여 선박을 targeting 하는 시스템 또한 구현하였다. 증강현실을 이용하여 실시간 영상과 선박 정보를 결합하였으며, 이를 구현하기 위해 perspective projection 방법을 통해 3차원 공간좌표계를 2차원으로 투영하였다. 실시간 처리를 위해 입력영상을 Block으로 분할하여 목적 좌표를 검색하였으며, 선박정보의 부드러운 이동을 위해 Dead Reckon 기법과 linear prediction 방법을 이용하여 선박 위치를 예측하였다. 마지막으로 삼각측량법에 기반하여 현재 PanTilt 장비를 목적된 장소로 이동시키는 시스템을 구현하였다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.3C
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• pp.419-425
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• 2004

This paper presents a new method which is calculated to use only three vanishing points in order to compute the dimensions of object and its pose from a single image of perspective projection taken by a camera. Our approach is to only compute three vanishing points without informations such as the focal length and rotation matrix from images in the case of perspective projection. We assume that the object can be modeled as a linear function of a dimension vector v. The input of reconstruction is a set of correspondences between features in the model and features in the image. To minimize each the dimensions of the parameterized models, this reconstruction of optimization can be solved by standard nonlinear optimization techniques with a multi-start method which generates multiple starting points for the optimizer by sampling the parameter space uniformly.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1145-1148
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• 2002

This paper presents a new method which is calculated to use only three vanishing points in order to compute the dimensions of object and its pose from a single image of perspective projection taken by a camera and the problem of recovering 3D models from three vanishing points of box scene. Our approach is to compute only three vanishing points without this information such as the focal length, rotation matrix, and translation from images in the case of perspective projection. We assume that the object can be modeled as a linear function of a dimension vector ν. The input of reconstruction is a set of correspondences between features in the model and features in the image. To minimize each the dimensions of the parameterized models, this reconstruction of optimization can be solved by the standard nonlinear optimization techniques with a multi-start method which generates multiple starting points for the optimizer by sampling the parameter space uniformly.

• Journal of Sensor Science and Technology
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• v.23 no.1
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• pp.66-71
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• 2014

Vision is the most important sensing capability for both men and sensory smart machines, such as intelligent robots. Sensed real 3D world and its 2D camera image can be related mathematically by a process called camera calibration. In this paper, we present a novel linear solution of camera calibration. Unlike most existing linear calibration methods, the proposed technique of this paper can identify camera parameters explicitly. Through the step-by-step procedure of the proposed method, the real physical elements of the perspective projection transformation matrix between 3D points and the corresponding 2D image points can be identified. This explicit solution will be useful for many practical 3D sensing applications including robotics. We verified the proposed method by using various cameras of different conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1088-1095
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• 2009

In this paper, we describe the reorientation method of distorted road sign by using projection transformation for improving recognition rate of road sign. RSR (Road Sign Recognition) is one of the most important topics for implementing driver assistance in intelligent transportation systems using pattern recognition and vision technology. The RS (Road Sign) includes direction of road or place name, and intersection for obtaining the road information. We acquire input images from mounted camera on vehicle. However, the road signs are often appeared with rotation, skew, and distortion by perspective camera. In order to obtain the correct road sign overcoming these problems, projection transformation is used to transform from 4 points of image coordinate to 4 points of world coordinate. The 4 vertices points are obtained using the trajectory as the distance from the mass center to the boundary of the object. Then, the candidate areas of road sign are transformed from distorted image by using homography transformation matrix. Internal information of reoriented road signs is segmented with arrow and the corresponding indicated place name. Arrow area is the largest labeled one. Also, the number of group of place names equals to that of arrow heads. Characters of the road sign are segmented by using vertical and horizontal histograms, and each character is recognized by using SAD (Sum of Absolute Difference). From the experiments, the proposed method has shown the higher recognition results than the image without reorientation.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.4
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• pp.429-441
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• 2002

This paper concerns extracting 3D motion information from a 3D input device in real time focused to enabling effective human-computer interaction. In particular, we develop a novel algorithm for extracting 6 degrees-of-freedom motion information from a 3D input device by employing an epipolar geometry of stereo camera, color, motion, and structure information, free from requiring the aid of camera calibration object. To extract 3D motion, we first determine the epipolar geometry of stereo camera by computing the perspective projection matrix and perspective distortion matrix. We then incorporate the proposed Motion Adaptive Weighted Unmatched Pixel Count algorithm performing color transformation, unmatched pixel counting, discrete Kalman filtering, and principal component analysis. The extracted 3D motion information can be applied to controlling virtual objects or aiding the navigation device that controls the viewpoint of a user in virtual reality setting. Since the stereo vision-based 3D input device is wireless, it provides users with a means for more natural and efficient interface, thus effectively realizing a feeling of immersion.

• Journal of the Korea Institute of Military Science and Technology
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• v.2 no.1
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• pp.194-203
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• 1999

This paper presents a measuring technique for bursting height of proximity fuses. This technique uses camera calibration to obtain the perspective transformation matrix describing the projection of the world coordinates to image coordinates, and calculates the world coordinates of bursting points from their image coordinates. The surface approximation algorithm by polynomial functions are also implemented.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1080-1087
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• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• The Journal of Information Technology
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• v.7 no.2
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• pp.93-104
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• 2004

Sports scene is characterized by large amount of global motion due to pan and zoom of camera motion, and includes many small objects moving independently. Some short period of sports games is thrilling to televiewers, and important to producers. At the same time that kinds of scenes exhibit exceptionally dynamic motions and it is very difficult to analyze the motions with conventional algorithms. In this thesis, several algorithms are proposed for global motion analysis on these dynamic scenes. It is shown that proposed algorithms worked well for motion compensation and panorama synthesis. When cascading the inter frame motions, accumulated errors are unavoidable. In order to minimize these errors, interpolation method of motion vectors is introduced. Affined transform or perspective projection transform is regarded as a square matrix, which can be factorized into small amount of motion vectors. To solve factorization problem, we preposed the adaptation of Newton Raphson method into vector and matrix form, which is also computationally efficient. Combining multi frame motion estimation and the corresponding interpolation in hierarchical manner enhancement algorithm of motion parameters is proposed, which is suitable for motion compensation and panorama synthesis. The proposed algorithms are suitable for special effect rendering for broadcast system, video indexing, tracking in complex scenes, and other fields requiring global motion estimation.