• Journal of KIISE:Computing Practices and Letters
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• v.16 no.7
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• pp.753-758
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• 2010

In this paper we propose an efficient marker tracking system that exploits IR and web cameras. The proposed method solves the marker swap problem and allows for fast and responsive marker tracking. We use color information gathered from the IR reflector to assign a unique identification to each marker. We can locate each marker withthe IR camera and also identify the marker uniquely by using color information provided by the web camera. The experiment results show that marker swapping can be eliminated effectively. Furthermore, our approach allows for faster and more responsive marker tracking.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.767-773
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• 2008

This paper presents a localization system based on the use of electric compass and tracking IR light source. Digital RGB(Red, Green, Blue)signal of digital CMOS Camera is sent to CPLD which converts the color image to binary image at 30 frames per second. CMOS camera has IR filter and UV filter in front of CMOS cell. The filters cut off above 720nm light source. Binary output data of CPLD is sent to DSP that rapidly tracks the IR light source by moving Camera tilt DC motor. At a robot toward north, electric compass signals and IR light source angles which are used for calculating the data of the location system. Because geomagnetic field is linear in local position, this location system is possible. Finally, it is shown that position error is within ${\pm}1.3cm$ in this system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.265-272
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• 2009

In this paper, a simple optical method that uses an infrared(IR) cut filter is proposed to minimize variation of eye image by external infrared(IR) sources in a video based head mounted eye tracking system that is used in the field of sports. For this, the IR cut filter is attached to a head mount of the eye tracking system, and the camera with an IR LED is located between the IR cut filter and eye. In this structure, external IR is blocked by the IR cut filter, and the IR intensity on the eye can be controlled by the IR LED. Therefore, the illumination condition of the camera to capture the eye can be stable without being affected by external IR illuminations. To verify the proposed idea, variation of the eye image and intensity of the IR with/without the IR cut filter is measured under various illumination conditions. The measured data show that the IR cut filter method can block external IR effectively, and complex pupil detection algorithms can be replaced by a simple binarized method.

• Journal of Korea Multimedia Society
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• v.22 no.3
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• pp.357-365
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• 2019

In this paper, we suggest the tracking method of moving multi-objects in maritime environments. The image acquisition is conducted using IR(InfraRed) camera sensors on an airborne platform. Under the circumstance of maritime, the qualities of IR images can be significantly degraded due to the clutter influence, which directly gives rise to a tracking loss problem. In order to reduce the effects from the clutters, we introduce a technical approach under Man-In-The-Loop(MITL) system for enhancing the tracking performance. To demonstrate the robustness of the proposed approach based on VTG(Valid Tracking Gate), the simulations are conducted utilizing the airborne IR video sequences: Then, the tracking performances are compared with the existing Kalman Filter tracking techniques.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.8
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• pp.3965-3983
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• 2017

We propose a novel eye tracking method that can estimate 3D world coordinates using an infrared (IR) stereo camera for indoor and outdoor environments. This method first detects dark evidences such as eyes, eyebrows and mouths by fast multi-level thresholding. Among these evidences, eye pair evidences are detected by evidential reasoning and geometrical rules. For robust accuracy, two classifiers based on multiple layer perceptron (MLP) using gradient local binary patterns (GLBPs) verify whether the detected evidences are real eye pairs or not. Finally, the 3D world coordinates of detected eyes are calculated by region-based stereo matching. Compared with other eye detection methods, the proposed method can detect the eyes of people wearing sunglasses due to the use of the IR spectrum. Especially, when people are in dark environments such as driving at nighttime, driving in an indoor carpark, or passing through a tunnel, human eyes can be robustly detected because we use active IR illuminators. In the experimental results, it is shown that the proposed method can detect eye pairs with high performance in real-time under variable illumination conditions. Therefore, the proposed method can contribute to human-computer interactions (HCIs) and intelligent transportation systems (ITSs) applications such as gaze tracking, windshield head-up display and drowsiness detection.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.229-235
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• 2011

To make a robust object tracking and identifying system for an intelligent robot and/or home system, heterogeneous sensor fusion between visible ray system and infrared ray system is proposed. The proposed system separates the object by combining the ROI (Region of Interest) estimated from two different images based on a heterogeneous sensor that consolidates the ordinary CCD camera and the IR (Infrared) camera. Human's body and face are detected in both images by using different algorithms, such as histogram, optical-flow, skin-color model and Haar model. Also the pose of human body is estimated from the result of body detection in IR image by using PCA algorithm along with AdaBoost algorithm. Then, the results from each detection algorithm are fused to extract the best detection result. To verify the heterogeneous sensor fusion system, few experiments were done in various environments. From the experimental results, the system seems to have good tracking and identification performance regardless of the environmental changes. The application area of the proposed system is not limited to robot or home system but the surveillance system and military system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.501-502
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• 2015

In this paper, a infra red-camera based wearable keyboard for variable UX(User eXprience) in smart platform was proposed with finger-tracking for anywhere portable devices. This virtual wearable keyboard was designed with OpenCV and MFC for the applying of 'fingertip tracking' and 'k-cuvature' algorithm with 2 IR-cameras.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.1
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• pp.89-101
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• 2015

This paper proposes a statistical model of 3-D positions when tracking moving targets using the uncooled infrared (IR) stereo camera system. The proposed model is derived from two errors. One is the position error which is caused by the sampling pixels in the digital image. The other is the timing jitter which results from the irregular capture-timing in the infrared cameras. The capture-timing in the IR camera is measured using the jitter meter designed in this paper, and the observed jitters are statistically modeled as Gaussian distribution. This paper derives an integrated probability distribution by combining jitter error with pixel position error. The combined error is modeled as the convolution of two error distributions. To verify the proposed statistical position error model, this paper has some experiments in tracking moving objects with IR stereo camera. The 3-D positions of object are accurately measured by the trajectory scanner, and 3-D positions are also estimated by stereo matching from IR stereo camera system. According to the experiments, the positions of moving object are estimated within the statistically reliable range which is derived by convolution of two probability models of pixel position error and timing jitter respectively. It is expected that the proposed statistical model can be applied to estimate the uncertain 3-D positions of moving objects in the diverse fields.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.3
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• pp.727-732
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• 2004

In this paper, we introduce a new approach for real-time 3D face pose discrimination based on active IR illumination from a monocular view of the camera. Under the IR illumination, the pupils appear bright. We develop algorithms for efficient and robust detection and tracking pupils in real time. Based on the geometric distortions of pupils under different face orientations, an eigen eye feature space is built based on training data that captures the relationship between 3D face orientation and the geometric features of the pupils. The 3D face pose for an input query image is subsequently classified using the eigen eye feature space. From the experiment, we obtained the range of results of discrimination from the subjects which close to the camera are from 94,67％, minimum from 100％, maximum.

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.862-866
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• 2004

Non-intrusive methods based on active remote IR illumination for eye tracking is important for many applications of vision-based man-machine interaction. One problem that has plagued those methods is their sensitivity to lighting condition change. This tends to significantly limit their scope of application. In this paper, we present a new real-time eye detection and tracking methodology that works under variable and realistic lighting conditions. Based on combining the bright-pupil effect resulted from IR light and the conventional appearance-based object recognition technique, our method can robustly track eyes when the pupils are not very bright due to significant external illumination interferences. The appearance model is incorporated in both eyes detection and tracking via the use of support vector machine and the mean shift tracking. Additional improvement is achieved from modifying the image acquisition apparatus including the illuminator and the camera.