• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2780-2782
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• 2002

In this paper Valentine Braitenberg structure based sensory motor model for object tracking control system was proposed. Conventional model based control schemes are require highly non-linear mathematical models, which require long computational time to solve complex high order equations. Contrast to conventional models proposed system simply link signal data from camera directly to the inputs of neural network, and outputs of network are directly fed into input of motor driver of camera. With simple structure of sensory motor model, real time tracking control system for dynamic object was realized successfully, and the implementation of sensory motor model can overcome the limitation of model-based control schemes.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.212-220
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• 2007

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2711-2713
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• 2000

능동시각시스템의 가장 큰 장점은 주어진 환경에 대해 능동적으로 반응할 수 있는 자유도가 있어 이를 활용하여 필요한 정보를 쉽게 추출할 수 있다는 점이다. 이를 위해서는 능동시각시스템의 시선을 원하는 위치로 이동시키는 것이 필요한데, 시스템의 여자유도 인해 해가 무수히 많이 존재하게 된다. 본 논문에서는 이러한 여자유도 문제를 기구의 동역학적 특성을 제한 조건으로 하여 최적의 해를 구하고 이를 이용해 각 관절을 제어하는 제어기를 설계하는 방법에 대해 소개한다. 설계된 제어기는 제작과 실험을 통해 고속으로 움직이는 물체를 실시간으로 추적하는 성능을 보였다.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2003.11a
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• pp.145-156
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• 2003

This paper for real time object tracking in this treatise detect histogram analysis that is accumulation value of binary conversion density and edge information and body that move by real time use of difference Image techniques and proposed method to object tracking. Firstly, we extract edge that can reduce quantity of data keeping information about form of input image in object detection. Object is extracted by performing difference image and binarization in edge image. Area of detected object is determined by threshold value that divide sum of horizontal accumulation value about binary conversion density by value that add horizontalityㆍverticality maximum accumulation value. Object is tracked by comparing similarity with object that is detected in previous frame and present frame. As experiment result, proposed algorithm could improve the object detection speed, and could track object by real time and could track local movement.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2358-2361
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• 2001

In recent years there have been increasing interests in real-time object tracking with image information. Since image information is affected by illumination, this paper presents the real-time object tracking method based on neural networks which have robust characteristics under various illuminations. This paper proposes three steps to track the object and the fast tracking method. In the first step the object color is extracted using neural networks. In the second step we detect the object feature information based on invariant moment. Finally the object is tracked through a shape recognition using neural networks. To achieve the fast tracking performance, this paper first has a global search of entire image and tracks the object through local search when the object is recognized.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.293-300
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• 2018

We propose a moving object extraction and tracking method for improvement of animal identification and tracking technology. First, we propose a method of merging separated moving objects into a moving object by using FCM (Fuzzy C-Means) clustering algorithm to solve the problem of moving object loss caused by moving object extraction process. In addition, we propose a method of extracting data from a moving object and a method of counting moving objects to determine the number of clusters in order to satisfy the conditions for performing FCM clustering algorithm. Then, we propose a method to continuously track merged moving objects. In the proposed method, color histograms are extracted from feature information of each moving object, and the histograms are continuously accumulated so as not to react sensitively to noise or changes, and the average is obtained and stored. Thereafter, when a plurality of moving objects are overlapped and separated, the stored color histogram is compared with each other to correctly recognize each moving object. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.534-539
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• 2008

This paper is about intelligent hexapod robot for the support walking of the aged person. The robot using various sensors and small camera has various abilities of forward backward walking, turing left or right, control the speed of walking, avoiding the obstacles and detecting risky situation of fire or gas. To let the aged feel soft and safe walking, we used special servo motor and developed hexapod walking mechanism and effective algorithm.

• Journal of Environmental Impact Assessment
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• v.10 no.1
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• pp.21-37
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• 2001

항공 비디오의 가장 큰 장점은 협각조망범위에 동영상을 제공함으로서 저렴한 경비로 소폭/장거리 지상물체를 감시하는 최적의 원격탐사도구로 알려져 있다. 선형감시에 대한 비디오의 이와 같은 이론적인 장점에 의거하여 하천수질을 모니터링 하기 위한 비디오 샘플링 기법이 본 연구를 통해 제시되었다. 본 연구의 근본적인 의도는 전통적인 샘플링에 기반을항공 비디오의 가장 큰 장점은 협각조망범위에 동영상을 제공함으로서 저렴한 경비로 소폭/장거리 지상물체를 감시하는 최적의 원격탐사도구로 알려져 있다. 선형감시에 대한 비디오의 이와 같은 이론적인 장점에 의거하여 하천수질을 모니터링 하기 위한 비디오 샘플링 기법이 본 연구를 통해 제시되었다. 본 연구의 근본적인 의도는 전통적인 샘플링에 기반을 둔 현장조사의 개념을 디지털 비디오의 해석기법에 연계시키려는 것이었다. 특정 지점에서 시료를 채취하는 현지 샘플링조사와 동일한 방식으로 장거리에 걸친 하천의 수질감시를 위해 원격동영상을 컴퓨터 모니터에 디스플레이 하면서 비디오 샘플지점을 선정하여 수질을 감시하였다. 비디오 샘플링 기법은 하천 색조의 변화실태에 대한 가상현실의 형태로 정보를 제공했다. 다양한 샘플지점에서 나타나는 하천 색조의 변화추세를 가시적으로 파악할 수 있었으며 전통적인 현장 샘플링 방법으로는 추적하는 데 한계가 있는 특정오염원에 기인한 하천수질의 광역적인 변화패턴을 파악하는 데 상당한 가능성을 보여주었다. 이와 같이 영구적으로 보전된 영상기록은 오염 물질의 이동확산 등 수질환경의 광역적인 변화 추이에 대한 시각적인 정보를 제공하고 있어 현장샘플링과 동시에 사용할 경우 하천수질감시에 있어 상당히 유용한 도구가 될 수 있음을 보여주었다. 본 연구를 통해서 제시된 비디오 샘플링 기법이 도로, 철도, 송유관 등 다양한 선형지형지물의 환경감시에 효과적으로 사용될 수 있을 것으로 사료된다. 둔 현장조사의 개념을 디지털 비디오의 해석기법에 연계시키려는 것이었다. 특정 지점에서 시료를 채취하는 현지 샘플링조사와 동일한 방식으로 장거리에 걸친 하천의 수질감시를 위해 원격동영상을 컴퓨터 모니터에 디스플레이 하면서 비디오 샘플지점을 선정하여 수질을 감시하였다. 비디오 샘플링 기법은 하천 색조의 변화실태에 대한 가상현실의 형태로 정보를 제공했다. 다양한 샘플지점에서 나타나는 하천 색조의 변화추세를 가시적으로 파악할 수 있었으며 전통적인 현장 샘플링 방법으로는 추적하는 데 한계가 있는 특정오염원에 기인한 하천수질의 광역적인 변화패턴을 파악하는 데 상당한 가능성을 보여주었다. 이와 같이 영구적으로 보전된 영상기록은 오염 물질의 이동확산 등 수질환경의 광역적인 변화 추이에 대한 시각적인 정보를 제공하고 있어 현장샘플링과 동시에 사용할 경우 하천수질감시에 있어 상당히 유용한 도구가 될 수 있음을 보여주었다. 본 연구를 통해서 제시된 비디오 샘플링 기법이 도로, 철도, 송유관 등 다양한 선형지형지물의 환경감시에 효과적으로 사용될 수 있을 것으로 사료된다.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.159-166
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• 2016

In this paper, an active object tracking system basing on the pan/tilt-embedded stereo camera system is suggested and implemented. In the proposed system, once the face area of a target is detected from the input stereo image by using a YCbCr color model and phase-type correlation scheme and then, using this data as well as the geometric information of the tracking system, the distance and 3D information of the target are effectively extracted in real-time. Basing on these extracted data the pan/tilted-embedded stereo camera system is adaptively controlled and as a result, the proposed system can track the target adaptively under the various circumstance of the target. From some experiments using 480 frames of the test input stereo image, it is analyzed that a standard variation between the measured and computed the estimated target's height and an error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 1.03 and 1.18% on average, respectively. From these good experimental results a possibility of implementing a new real-time intelligent stereo target tracking and surveillance system using the proposed scheme is finally suggested.