Robotics and Computer Vision Lab

Publications

Extra Form
저 자 Yunsu Bok, Dong-Geol Choi, In So Kweon
학 회 IEEE International Conference on Robotics and Automation (ICRA)
논문일시(Year) 2013
논문일시(Month) 05
This paper presents a new structure-from-motion (SFM) technique called ‘generalized laser three-point’ algorithm. It is designed to estimate the motion of the camera-laser fusion system which consists of a 2D laser sensor and multiple cameras. The laser points are projected onto the images and tracked to other frames to be used as 3D-2D correspondences. However, the typical three-point algorithms cannot estimate the motion of the system if three points are collinear. Using the laser points as 3D points, this case happens frequently if the laser sensor scans a large plane (e.g. open ground). Even in that case, two frames of the laser data are not collinear if the system is moved while it captures the frames. Among three point correspondences required to estimate the motion, we select two points and the other point from different frames. We estimate the relative pose between the frames by solving an 8-degree polynomial equation. The experimental results show that the proposed algorithm is more appropriate for our fusion system than the previous algorithms.

List of Articles
385. Noise aware depth denoising for a time-of-flight camera
Jiyoung Jung, Joon-Young Lee, In So Kweon
20th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2014 / 02
384. P-RIF: Perceptually Robust Invariant Feature
Sungho Kim, In So Kweon
IPIU 2013 / 02
383. A Perceptual Visual Feature Extraction Method Achieved by Imitating V1 and V4 of the Human Visual System
Sungho Kim, 권순, In So Kweon
Cognitive Computation 2012 / 11
382. Image-Optimized Rolling Cache: Reducing the Miss Penalty for Memory-Intensive Vision Algorithms
Younggeun Kim, In So Kweon
IEEE Transactions on Circuits and Systems for Video Technology 2013 / 12
381. Robust Computer Vision Techniques for High-quality 3D Modeling
Joon-Young Lee, Jiyoung Jung, Yunsu Bok, Jaesik Park, Dong-Geol Choi, Yudeog Han, In So Kweon
IAPR Asian Conference on Pattern Recognition 2013 / 11
380. Orientation based multi-scale corner detection for mobile robot application
Sungho Kim, In So Kweon, Wangheon Lee
International Conference on Control, Automation and Systems 2012 / 10
379. Omnidirectional Object Recognition Based Mobile Robot Localization
Sungho Kim, In So Kweon
Lecture Notes in Electrical Engineering 2013 / 05
378. Model-Based Scene Interpretation by Multilayered Context Information. In N.M.Seel(Ed.), Encyclopedia of the Science of Learning
Sungho Kim, In So Kweon
Springer 2012 / 01
377. Feature point detection by combining advantages of intensity-based approach and edge-based approach
Sungho Kim, Chaehoon Park, Yukyung Choi, 권순, In So Kweon
World Academy of Science Engineering and Technology 2012 / 08
376. 영상 곡률 공간 정보를 이용한 코너 검출 기법
Sungho Kim, Chaehoon Park, Yukyung Choi, In So Kweon
2011 제 26회 ICROS 학술대회 2011 / 05
375. TVF와 GVF를 이용한 특징점 추출
Sungho Kim, Chaehoon Park, Yukyung Choi, In So Kweon
신호처리종합학술대회 2011 / 09
374. 컬러영상분할을 이용한 향상된 안개제거
Sang-Woo Noh, Byungtae Ahn, In So Kweon
신호처리합동학술대회 2013 / 10
373. Appearance-based Gaze Estimation using Kinect
Jinsoo Choi, Byungtae Ahn, Jaesik Park, In So Kweon
The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2013) 2013 / 10
372. Haze Removal on Superpixel Domain
Sang-Woo Noh, Byungtae Ahn, In So Kweon
The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2013 / 10
371. Partial Sum Minimization of Singular Values in RPCA for Low-Level Vision
Tae-Hyun Oh, Hyeongwoo Kim, Yu-Wing Tai, Jean-Charles Bazin, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2013 / 12
370. High Quality Shape from a Single RGB-D Image under Uncalibrated Natural Illumination
Yudeog Han, Joon-Young Lee, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2013 / 12
369. Multiview Photometric Stereo using Planar Mesh Parameterization
Jaesik Park, Sudipta N. Sinha, Yasuyuki Matsushita, Yu-Wing Tai, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2013 / 12
368. Fluttering Pattern Generation using Modified Legendre Sequence for Coded Exposure Imaging
Hae-Gon Jeon, Joon-Young Lee, Yudeog Han, Seon Joo Kim, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2013 / 12
367. Robust Real-time Tracking of Facial Features with Application to Emotion Recognition
Byungtae Ahn, Eung-Hee Kim, Jin-Hun Sohn, In So Kweon
Journal of Korea Robotics Society 2013 / 12
366. Evaluation of Vocabulary Trees for Localization in Robot Applications
Soonmin Hwang, Chaehoon Park, Yukyung Choi, Donggeun Yoo, In So Kweon
International Conference on Control, Automation and Systems 2013 / 10
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