• Title/Summary/Keyword: Kalman filters

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Neighboring Vehicle Maneuver Detection using IMM Algorithm for ADAS (지능형 운전보조시스템을 위한 IMM 기법을 이용한 전방차량 거동추정기법)

  • Jung, Sun-Hwi;Lee, Woon-Sung;Kang, Yeonsik
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.8
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    • pp.718-724
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    • 2013
  • In today's automotive industry, there exist several systems that help drivers reduce the possibility of accidents, such as the ADAS (Advanced Driver Assistance System). The ADAS helps drivers make correct and quick decisions during dangerous situations. This study analyzed the performance of the IMM (Interacting Multiple Model) method based on multiple Kalman filters using the data acquired from a driving simulator. An IMM algorithm is developed to identify the current discrete state of neighboring vehicles using the sensor data and the vehicle dynamics. In particular, the driving modes of the neighboring vehicles are classified by the cruising and maneuvering modes, and the transition between the states is modeled using a Markovian switching coefficient. The performance of the IMM algorithm is analyzed through realistic simulations where a target vehicle executes sudden lane change or acceleration maneuver.

Performance Analysis of the Turning Acceleration Estimator, Input Estimation and Variable Dimension Filters for Tracking Maneuvers (회전가속도 추정기, 입력추정 및 가변차원 필터의 기동 추적 성능 해석)

  • Choi, Sung-Won;Lim, Sang-Seok
    • Journal of Advanced Navigation Technology
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    • v.6 no.2
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    • pp.119-129
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    • 2002
  • Maneuvering targets are difficult to track for the Kalman filter since the target model of tracking filter might not fit the real target trajectory and the statistical characteristics of the target maneuver are unknown in advance. In order to track such a highly maneuvering target, several schemes have been proposed and improved the tracking performance in some extent. Among those tracking schemes the Input Estimation (IE), Variable Dimension (VD) and Turning Acceleration Estimator (TAE) became popular. However, so far their tracking performances were analyzed individually and were not compared. In this paper, the tracking performances of the typical IE, VD and TAE schemes for a maneuvering target are compared. Monte-Carlo Simulations for three maneuvering profiles are carried out and the results are analyzed towards practical applications.

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Contour and Feature Parameter Extraction for Moving Object Tracking in Traffic Scenes (도로영상에서 움직이는 물체 추적을 위한 윤곽선 및 특징 파라미터 추출)

  • Lee, Chul-Hun;Seol Sung-Wook;Joo Jae-Heum;Nam Ki-Gon
    • Journal of the Institute of Electronics Engineers of Korea CI
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    • v.37 no.1
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    • pp.11-20
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    • 2000
  • This paper presents the method of extracting the contour and shape parameters for moving object tracking in traffic scenes. The contour is extracted by applying difference image method in reduction image and the features are extracted from original image to grow the accuracy of tracking. We used features such as circle distribution, center moment, and maximum and minimum ratio. Data association problem is solved by these features. Kalman filters are used for moving object tracking on real time. The simulation results indicate that the proposed algorithm appears to generate feature vectors good enough for multiple vehicle tracking.

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A Study on a Feature-based Multiple Objects Tracking System (특징 기반 다중 물체 추적 시스템에 관한 연구)

  • Lee, Sang-Wook;Seol, Sung-Wook;Nam, Ki-Gon;Kwon, Tae-Ha
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.36S no.11
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    • pp.95-101
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    • 1999
  • In this paper, we propose an adaptive method of tracking multiple moving objects using contour and features in surrounding conditions. We use an adaptive background model for robust processing in surrounding conditions. Object segmentation model detects pixels thresholded from local difference image between background and current image and extracts connected regions. Data association problem is solved by using feature extraction and object recognition model in searching window. We use Kalman filters for real-time tracking. The results of simulation show that the proposed method is good for tracking multiple moving objects in highway image sequences.

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A Study on Rule-Based Vehicle Tracking in Video Images (비디오 영상에서 규칙기반 차량추적에 관한 연구)

  • Park Eun-Jong;Lee Joon-Whan
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.4 no.2 s.7
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    • pp.1-11
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    • 2005
  • Automatic tracking of vehicles is important to accurately estimate the vehicle speeds in video-based traffic measurement systems and to analyze traffic flows for road construction. This paper proposes a carefully designed rule-based tracking scheme that considers the possible cases that can be appeared in the video-based vehicle racking. The proposed scheme is fast and outperforms the Mean-Shift scheme in terms of accuracy. The accuracy and the speed of the scheme would be increased by combining it with color-based searching and Kalman filters.

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Study on Elimination of EMI in ELF-Band for EPS-Based Smart TV Control (전위계차센서 기반 스마트TV 제어를 위한 극저주파 전자기간섭 제거 연구)

  • Jang, Jin-Soo;Kim, Young-Chul
    • Journal of Korea Multimedia Society
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    • v.18 no.3
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    • pp.401-407
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    • 2015
  • In this paper, we propose the method to eliminate EMI (Electro-Magnetic Interference) in ELF (Extremely Low Frequency) band below 2 KHz for extending the gesture-recognition distance of smart TVs to more than 3m using electric potential sensor. First, we measure the electric field generated from the back panel of a TV and propose the effective arrangement of two sets of differential sensors as well as the shielding method using metal fiber. Also, we eliminate the PLN (Power Line Noise) and other noise generated from the TV and sensors as well as surrounding environments using filters. Using the proposed EMI eliminating methods, we evaluate displacement ratio on measured signals according to distance between sensors and a moving hand. Experiment results show that our proposed method can extend the hand-gesture sensing distance using EPS (Electric Potential Sensor) up to more than 3m, which is enough to satisfy applicability of EPS based remote control to Smart TVs.

Multi-Small Target Tracking Algorithm in Infrared Image Sequences (적외선 연속 영상에서 다중 소형 표적 추적 알고리즘)

  • Joo, Jae-Heum
    • Journal of the Institute of Convergence Signal Processing
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    • v.14 no.1
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    • pp.33-38
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    • 2013
  • In this paper, we propose an algorithm to track multi-small targets in infrared image sequences in case of dissipation or creation of targets by using the background estimation filter, Kahnan filter and mean shift algorithm. We detect target candidates in a still image by subtracting an original image from an background estimation image, and we track multi-targets by using Kahnan filter and target selection. At last, we adjust specific position of targets by using mean shift algorithm In the experiments, we compare the performance of each background estimation filters, and verified that proposed algorithm exhibits better performance compared to classic methods.

FIR Filter for Defense Mechanism against Malicious Cyber Attacks (악의적 사이버 공격을 무력화하기 위한 FIR 필터에 관한 연구)

  • Lee, Sang-Su;Kim, Kwan-Soo;Kang, Hyun-Ho;You, Sung-Hyun;Lee, Dhong-Hun;Lee, Dong-Kyu;Kim, Young-Eun;Ahn, Choon-Ki
    • Proceedings of the Korea Information Processing Society Conference
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    • 2018.10a
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    • pp.438-441
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    • 2018
  • In this paper, we propose a finite impulse response (FIR) filter under malicious cyber attacks. The FIR filter shows the robust performance against the malicious cyber attacks. The Kalman filter (KF), one of the widely used filters, is introduced as a comparison of robust performance of the proposed method. The robust performance of the proposed method under malicious cyber attacks is demonstrated through experimental results.

A Method of Lane Marker Detection Robust to Environmental Variation Using Lane Tracking (차선 추적을 이용한 환경변화에 강인한 차선 검출 방법)

  • Lee, Jihye;Yi, Kang
    • Journal of Korea Multimedia Society
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    • v.21 no.12
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    • pp.1396-1406
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    • 2018
  • Lane detection is a key function in developing autonomous vehicle technology. In this paper, we propose a lane marker detection algorithm robust to environmental variation targeting low cost embedded computing devices. The proposed algorithm consists of two phases: initialization phase which is slow but has relatively higher accuracy; and the tracking phase which is fast and has the reliable performance in a limited condition. The initialization phase detects lane markers using a set of filters utilizing the various features of lane markers. The tracking phase uses Kalman filter to accelerate the lane marker detection processing. In a tracking phase, we measure the reliability of the detection results and switch it to initialization phase if the confidence level becomes below a threshold. By combining the initialization and tracking phases we achieved high accuracy and acceptable computing speed even under a low cost computing resources in which we cannot use the computing intensive algorithm such as deep learning approach. Experimental results show that the detection accuracy is about 95% on average and the processing speed is about 20 frames per second with Raspberry Pi 3 which is low cost device.

Application of Deep Learning: A Review for Firefighting

  • Shaikh, Muhammad Khalid
    • International Journal of Computer Science & Network Security
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    • v.22 no.5
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    • pp.73-78
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    • 2022
  • The aim of this paper is to investigate the prevalence of Deep Learning in the literature on Fire & Rescue Service. It is found that deep learning techniques are only beginning to benefit the firefighters. The popular areas where deep learning techniques are making an impact are situational awareness, decision making, mental stress, injuries, well-being of the firefighter such as his sudden fall, inability to move and breathlessness, path planning by the firefighters while getting to an fire scene, wayfinding, tracking firefighters, firefighter physical fitness, employment, prediction of firefighter intervention, firefighter operations such as object recognition in smoky areas, firefighter efficacy, smart firefighting using edge computing, firefighting in teams, and firefighter clothing and safety. The techniques that were found applied in firefighting were Deep learning, Traditional K-Means clustering with engineered time and frequency domain features, Convolutional autoencoders, Long Short-Term Memory (LSTM), Deep Neural Networks, Simulation, VR, ANN, Deep Q Learning, Deep learning based on conditional generative adversarial networks, Decision Trees, Kalman Filters, Computational models, Partial Least Squares, Logistic Regression, Random Forest, Edge computing, C5 Decision Tree, Restricted Boltzmann Machine, Reinforcement Learning, and Recurrent LSTM. The literature review is centered on Firefighters/firemen not involved in wildland fires. The focus was also not on the fire itself. It must also be noted that several deep learning techniques such as CNN were mostly used in fire behavior, fire imaging and identification as well. Those papers that deal with fire behavior were also not part of this literature review.