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Project experiences

Project experiences. Donghun Kim Electrical and Computer Engineering Purdue University. A brief history. 2001 : Stereo Vision-based Control Algorithm for docking a nonholonomic mobile robot (M.S. Thesis ) 2001~2006 Spring :

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Project experiences

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  1. Project experiences Donghun Kim Electrical and Computer Engineering Purdue University

  2. A brief history • 2001 : • Stereo Vision-based Control Algorithm for docking a nonholonomic mobile robot (M.S. Thesis) • 2001~2006 Spring : • Researcher for the Fingerprint Pattern Recognition Algorithm in the company, NITGen Co. Ltd. • 2007 Fall : • Line Tracking with Stereo Camera for Assembly-on-the-fly (Involved in the Image-based Visual Servoing) • 2008 • Human Modeling and Tracking in Multiple Camera Networks (2008) • 3D Skeleton-based Human modeling using implicit surfaces (Metaballs) • Shape Complexity of occluding contours using the Entropy of Multi-scales Curvature Distribution and the Contour Bending Energy  • 2008 Fall~ Present: • Appearance-based 3D Rigid Object Tracking • Approaches: Direct Image Alignment and Appearance-based Feature Matching

  3. Stereo Vision-based Control Algorithm for docking a nonholonomic mobile robot (2001) [Controller Architecture] [Kist Autonomous Robotic Assistant]

  4. Kinematic model & visual docking results

  5. Fingerprint pattern recognition (2001~2006) • Research of pattern recognition in biometrics such as fingerprint, face and iris etc. • Support to develop the Automatic Fingerprint Identification System for the Public Prosecutors Office • Involved in the part of a Fingerprint Pattern Recognition Algorithm • Development of the Algorithm Development Tool • Feature Extraction • Geometric Point Pattern Matching • PCA-based Search Algorithm to indentify in a large database

  6. A Simple Procedure Feature patterns

  7. Extraction and Matching

  8. Human Modeling and Tracking in Multiple Camera Networks I (2008) • Skeleton-based 3D parameterized human modeling using Implicit Surfaces (Metaballs) • Develop a Modeling Tool using OpenGL & FLTK (Fast Light Tool Kits) • Parameterized 3D Skeleton Model • 3D Skeleton-based Human Model with Metaballs • Rendering by Marching Cube Algorithm

  9. A Modeling Procedure

  10. Modeling Tool - Made by Donghun Kim

  11. Modeling Tool - Made by Donghun Kim

  12. Human Modeling and Tracking in Multiple Camera Networks II (2008) • Shape complexity Analysis for Silhouette images of a human pose to find the principal view in multiple cameras system • Using two criteria: • The Entropy of a Multi-resolution Curvature Distribution(EMCD) • Contour Bending Energy (CBE)

  13. Result for simple patterns The most complex pattern

  14. Result of multiple views for a human pose

  15. Appearance-based 3D Rigid Object Tracking (2008 Fall ~ Present) • Model-based 3D Object Tracking • Approaches • For Pose Initialization: Local Appearance Features (SIFT) based matching (3D model – 2D input image) • For Pose Refinement: Direct Image Alignment considering appearance variation • Use the Normalization Inverse Compositional Image Alignment approach • Interests • Manifold Learning, Online Learning • Non-rigid object Tracking

  16. 3D Object Tracking

  17. Direct Image Alignment Approach

  18. Local Appearance Feature-based Matching Approach

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