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In this paper, we propose a method of generating 3D point clouds of terrain and cultural assets using the images acquired by ground and aerial photography. 3D point cloud data are made actually through the camera calibration process and image matching process. From 3D point cloud data, camera intrinsic and extrinsic parameters are calculated, and the point cloud data and the camera parameters are...
Recently, RGB-D camera has been used widely in indoor SLAM (Simultaneous Localization and Mapping) field. In this paper, we propose an efficient 3D mapping algorithm that considers appearance of dynamic objects. A full 3D mapping system estimates 6-DoF sensor pose and builds 3D voxel grid map simultaneously. In order to build a 3D map, effective method is proposed in terms of computation time. Depending...
They say that facial expressions are the window of human mind states. By interpreting the mind states, we can achieve a smooth interaction between human and machines. In this paper, we try to handle human mind states. We use vector chain code method to indicate a change of the face. The vector chain code can encode the direction information and distance information altogether. Through experiments,...
Object detection is one of the important problems for autonomous robots. Faster R-CNN, one of the state-of-the-art object detection methods, approaches real time application; nevertheless, computational time lies borderline of real time application, i.e. 5fps with VGG16 model in K40 GPU system in [1]. Moreover, computation time depends on model and image crop size, but precision is also affected;...
Mental state classification is an important step for realizing a control system based on electroencephalography (EEG) signals which could benefit a lot of paralyzed people including the locked-in or Amyotrophic Lateral Sclerosis. Considering that EEG signals are nonstationary and often contaminated by various types of artifacts, classifying thoughts into correct mental states is not a trivial problem...
In this paper, we investigate the feasibility of identifying the functional near-infrared spectroscopy (fNIRS) signal occurred from a single trial arithmetic task, in which the rest state hemodynamic response (HR), the occurrence of an initial dip, and the regular hemodynamic response are involved. fNIRS signals are measured from five healthy subjects for mental arithmetic tasks from the prefrontal...
We propose a feature extraction method for lane changes of other traffic participants. According to previous research, over 90 % of car crashes are caused by human mistakes, and lane changes are the main factor. Therefore, if an intelligent system can predict a lane change and alarm a driver before another vehicle crosses the center line, this can contribute to reducing the accident rate. The main...
In this study, we propose a method to extract features for graph SLAM using an upward-looking camera mounted in an automated guided vehicle (AGV) in a factory environment. To this end, a novel feature detector and descriptor GALS (geometrical arrangement based on lamps and SURF) is proposed in this study. This algorithm consists of two parts: 1) geometrical arrangement of SURF features around a lamp...
This paper presents a novel object extraction method using a micro air vehicle (MAV) for improving the robustness of occlusion. The proposed method is based on saliency of objects for extracting regions of interest (RoIs) using scale invariant feature transform (SIFT) features and segmentation of target objects using GrabCut, which requires advance learning. We obtained original aerial photographic...
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