• Title/Summary/Keyword: Mobile Object Tracking

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Real-Time Correction Based on wheel Odometry to Improve Pedestrian Tracking Performance in Small Mobile Robot (소형 이동 로봇의 사람 추적 성능 개선을 위한 휠 오도메트리 기반 실시간 보정에 관한 연구)

  • Park, Jaehun;Ahn, Min Sung;Han, Jeakweon
    • The Journal of Korea Robotics Society
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    • v.17 no.2
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    • pp.124-132
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    • 2022
  • With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

A Modified Expansion-Contraction Method for Mobile Object Tracking in Video Surveillance: Indoor Environment

  • Kang, Jin-Shig
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.13 no.4
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    • pp.298-306
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    • 2013
  • Recent years have witnessed a growing interest in the fields of video surveillance and mobile object tracking. This paper proposes a mobile object tracking algorithm. First, several parameters such as object window, object area, and expansion-contraction (E-C) parameter are defined. Then, a modified E-C algorithm for multiple-object tracking is presented. The proposed algorithm tracks moving objects by expansion and contraction of the object window. In addition, it includes methods for updating the background image and avoiding occlusion of the target image. The validity of the proposed algorithm is verified experimentally. For example, the first scenario traces the path of two people walking in opposite directions in a hallway, whereas the second one is conducted to track three people in a group of four walkers.

Multi-Object Tracking Based on Keypoints Using Homography in Mobile Environments (모바일 환경 Homography를 이용한 특징점 기반 다중 객체 추적)

  • Han, Woo ri;Kim, Young-Seop;Lee, Yong-Hwan
    • Journal of the Semiconductor & Display Technology
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    • v.14 no.3
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    • pp.67-72
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    • 2015
  • This paper proposes an object tracking system based on keypoints using homography in mobile environments. The proposed system is based on markerless tracking, and there are four modules which are recognition, tracking, detecting and learning module. Recognition module detects and identifies an object to be matched on current frame correspond to the database using LSH through SURF, and then this module generates a standard object information. Tracking module tracks an object using homography information that generate by being matched on the learned object keypoints to the current object keypoints. Then update the window included the object for defining object's pose. Detecting module finds out the object based on having the best possible knowledge available among the learned objects information, when the system fails to track. The experimental results show that the proposed system is able to recognize and track objects with updating object's pose for the use of mobile platform.

Multi-Object Tracking based on Reliability Assessment of Learning in Mobile Environment (모바일 환경 신뢰도 평가 학습에 의한 다중 객체 추적)

  • Han, Woo ri;Kim, Young-Seop;Lee, Yong-Hwan
    • Journal of the Semiconductor & Display Technology
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    • v.14 no.3
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    • pp.73-77
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    • 2015
  • This paper proposes an object tracking system according to reliability assessment of learning in mobile environments. The proposed system is based on markerless tracking, and there are four modules which are recognition, tracking, detecting and learning module. Recognition module detects and identifies an object to be matched on current frame correspond to the database using LSH through SURF, and then this module generates a standard object information that has the best reliability of learning. The standard object information is used for evaluating and learning the object that is successful tracking in tracking module. Detecting module finds out the object based on having the best possible knowledge available among the learned objects information, when the system fails to track. The experimental results show that the proposed system is able to recognize and track the reliable objects with reliability assessment of learning for the use of mobile platform.

Efficient Tracking of a Moving Object Using Representative Blocks Algorithm

  • Choi, Sung-Yug;Hur, Hwa-Ra;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.678-681
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    • 2004
  • In this paper, efficient tracking of a moving object using optimal representative blocks is implemented by a mobile robot with a pan-tilt camera. The key idea comes from the fact that when the image size of moving object is shrunk in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object can be improved by changing the size of representative blocks according to the object image size. Motion estimation using Edge Detection(ED) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data since these schemes suffer from the heavy computational load. In this paper, the optimal representative block that can reduce a lot of data to be computed, is defined and optimized by changing the size of representative block according to the size of object in the image frame to improve the tracking performance. The proposed algorithm is verified experimentally by using a two degree-of-freedom active camera mounted on a mobile robot.

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Trajectory Generation of a Moving Object for a Mobile Robot in Predictable Environment

  • Jin, Tae-Seok;Lee, Jang-Myung
    • International Journal of Precision Engineering and Manufacturing
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    • v.5 no.1
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    • pp.27-35
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    • 2004
  • In the field of machine vision using a single camera mounted on a mobile robot, although the detection and tracking of moving objects from a moving observer, is complex and computationally demanding task. In this paper, we propose a new scheme for a mobile robot to track and capture a moving object using images of a camera. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. And a single camera is used as visual sensors to capture image sequences of a moving object. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

Object Tracking of Mobile Robots using Hough Transform (Hough Transform을 이용한 이동 로봇의 물체 추적)

  • Jung, Kyung-Kwon;Shin, Heon-Soo;Lee, Hyun-Kwan;Eom, Ki-Hwan
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2007.06a
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    • pp.819-822
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    • 2007
  • In this paper, we propose an object-tracking of mobile robots using CHT(Circular Hough transform) algorithm. The proposed method extracts the region of moving objects using 1-D projection algorithm, and detects circular objects using CHT. In order to verify the effectiveness of the proposed tracking method, we perform experiments of ball shape object-tracking using mobile robot based on ARM processor with CMOS camera.

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Implementation of Tracking and Capturing a Moving Object using a Mobile Robot

  • Kim Sang-joo;Park Jin-woo;Lee Jang-Myung
    • International Journal of Control, Automation, and Systems
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    • v.3 no.3
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    • pp.444-452
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    • 2005
  • A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.

A Simultaneous Object Tracking and Obstacles Avoidance Controller with Fuzzy Danger Factor of Mobile Robot (퍼지 위험지수에 의한 이동로봇의 물체 추적 및 장애물 회피 주행 제어기)

  • Kang, Jae-Gu;Lee, Joong-Jae;Jie, Min-Seok;You, Bum-Jae
    • 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.

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Kinematic Method of Camera System for Tracking of a Moving Object

  • Jin, Tae-Seok
    • Journal of information and communication convergence engineering
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    • v.8 no.2
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    • pp.145-149
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    • 2010
  • In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.