Robotics and Computer Vision Lab

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저 자 Yunsu Bok, Yekeun Jeong, Dong-Geol Choi, In So Kweon
학 회 International Journal of Computer Vision (IJCV), vol. 94, no. 1, pp. 36-53
논문일시(Year) 2011
논문일시(Month) 08
Preserving a heritage as a digital archive is as important as preserving its physical structure. The digital preservation is essential for massive heritages which are often defenceless against various types of destruction and require frequent restorations. However, capturing heritages gets exceedingly harder as their scale grows. In this paper, we present a novel approach to reconstruct a massive-scale structure using a hand-held fusion sensor system. The approach includes new methods on calibration, motion estimation, and accumulated error reduction. The proposed sensor system consists of four
cameras and two 2D laser scanners to obtain a wide field-of-view. A new calibration method successfully achieves a much lower reprojection error compared to the previous method. A motion estimation method provides accurate and robust relative poses by fully utilizing plenty observations. At the last stage, the accumulated error reduction removes the drift occurred over tens of thousands frames by adopting weak GPS prior and loop closing. Therefore the system is able to capture and georegister large heritage architectures of square kilometers size. Furthermore, because no assumption or restriction is made, the user can freely move the system and can control the level of detail of the digital heritage without any effort. To demonstrate the performance, we have captured several important Korean heritages including Gyeongbok-Gung, the royal palace of Korea. The experimental result shows that the estimated route fits Google's satellite image and DGPS data while the detailed appearances of representative constructions are captured and preserved well.

List of Articles
299. Graph-based Shape Matching for Deformable Objects
Hanbyul Joo, Yekeun Jeong, Olivier Duchenne, In So Kweon
IEEE Internetional Conference on Image Processing (ICIP) 2011 / 09
298. 2D/3D Virtual Face Modeling
Soonkee Chung, Jean-Charles Bazin, In So Kweon
IEEE Internetional Conference on Image Processing (ICIP) 2011 / 09
297. Utilizing Visual Information for Path Planning of Autonomous Mobile Robot
Doogyu Kim, Jayoung Kim, Jihong Lee, Hanbyul Joo, In So Kweon
Proceedings of the World Congress on Engineering and Computer Science 2009 2009 / 10
296. Intelligent Grasping by Learning from Observation
Seong-Young Ko, Hanbyul Joo, Dong-Geol Choi, Hyeongwoo Kim, In So Kweon
The 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2008) 2008 / 11
295. Radiometric Calibration by Transform Invariant Low-rank Structure
Joon-Young Lee, Boxin Shi, Yasuyuki Matsushita, In So Kweon, Katsushi Ikeuchi
IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2011 / 06
294. 이동 카메라에서의 물체 탐지
Minju Kim, Seong-Heum Kim, Yu-Wing Tai, In So Kweon
26th ICROS Annual Conference (학부생 포스터 세션) 2011 / 05
293. 로봇 응용을 위한 협력 및 결합 비전 시스템
Jean-Charles Bazin, Seong-Heum Kim, Dong-Geol Choi, Joon-Young Lee, In So Kweon
로봇공학회 논문지 2011 / 09
292. Two-phase Approach for Multi-view Object Extraction
Seong-Heum Kim, Yu-Wing Tai, Yunsu Bok, Hyeongwoo Kim, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2011 / 09
291. 정확한 시선방향을 위한 카메라 내장 기법
Seong-Heum Kim, In So Kweon
2011년도 하계종합학술대회, 대한전자공학회 2011 / 06
290. 전방향 카메라의 All-focused 영상 생성
Dong-Gun Lee, Da-Hyun Jeon, Jean-Charles Bazin, In So Kweon
26th ICROS Annual Conference (학부생 포스터 세션) 2011 / 05
289. Hierarchical On-line Boosting based Background Subtraction
Yongcheol Lee, Jiyoung Jung, In So Kweon
17th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2011 / 02
288. Complementation of Cameras and Lasers for Accurate 6D SLAM: From Correspondences To Bundle Adjustment
Yekeun Jeong, Yunsu Bok, Jun-sik Kim, In So Kweon
IEEE International Conference on Robotics and Automation (ICRA) 2011 / 05
287. An Original Approach for Automatic Plane Extraction by Omnidirectional Vision
Jean-Charles Bazin, Pierre-Yves Laffont, In So Kweon, C. Demonceaux, P. Vasseur
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010 / 10
286. Robust visual lock-on and simultaneous localization for an unmanned aerial vehicle
Jihong Min, Yekeun Jeong, In So Kweon
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010(IROS2010) 2010 / 10
285. View-invariant Planar Object Detection for VisTRo
Jiyoung Jung, Yekeun Jeong, Joon-Young Lee, Hanbyul Joo, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI) 2010 / 11
284. Probabilistic Localization Using Sensor Fusion
Seunghak Shin, Jungho Kim, Jihong Min, Jaesik Park, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI 2010) 2010 / 11
283. Robust Detection of Small Objects in Cluttered Environment using Deptu Cue
Jaesik Park, Yekeun Jeong, Chaehoon Park, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI 2010) 2010 / 11
282. Metric reconstruction of planes utilizing off-the-plane features
Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding (CVIU) 2011 / 01
» Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
Yunsu Bok, Yekeun Jeong, Dong-Geol Choi, In So Kweon
International Journal of Computer Vision (IJCV), vol. 94, no. 1, pp. 36-53 2011 / 08
280. Virtual Face Sculpting
Jean-Charles Bazin, Soonkee Chung, Roger Blanco Ribera, Quang Pham, In So Kweon
SIGGRAPH-poster 2010 / 07
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