• ETRI Journal
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• v.45 no.5
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.11
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• pp.795-800
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• 2013

Early detection of oestrus in Korean cows is one of the important issues in maximizing the economic benefit. Although various methods have been proposed, we still need to improve the performance of the oestrus detection system. In this paper, we propose a video surveillance system which can detect unusual behavior of multiple cows including the mounting activity. The unusual behavior detection is to detect the dangerous or abnormal situations of cows in video coming in real time from a surveillance camera promptly and correctly. The prototype system for unusual behavior detection gets an input video from a fixed location camera, and uses the motion vector to represent the motion information of cows in video, and finally selects a SVDD (one of the most well-known types of one-class SVM) as a detector by reinterpreting the unusual behavior into an one class decision problem from the practical points of view. The experimental results with the videos obtained from a farm located in Jinju illustrate the efficiency of the proposed method.

• Journal of Biomedical Engineering Research
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• v.37 no.1
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• pp.1-6
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• 2016

The biomedical information (heart rate, HRV, $SpO_2$ etc) from the Photoplethysmography (PPG) signal section can be estimated without the motion artifacts if the PPG signal section in the motion artifacts is detected accurately. But the PPG signal is easily exposed to the motion artifacts by the decrease of the medical instrument size and applying as portable or wearable. Besides, it is difficult to completely eliminate the motion artifacts from the PPG signal without distortion and ensure reliability as well. In this paper, the method was suggested to determine the motion artifacts or not on the PPG signal of the section divided into intervals of constant length. By comparing the spectrum of each section, it can be determined whether the motion artifacts are or not after obtaining the spectrum of each section by the Goertzel algorithm. Moreover, an amount of computation while maintaining a high detection rate can be reduced by using the Goertzel algorithm.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.5
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• pp.317-321
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• 2013

This paper proposes a detection algorithm for view reversal in a stereoscopic video using a disparity map and motion vector field. We obtain the disparity map of a stereo image was obtained using a specific stereo matching algorithm and classify the image into the foreground and background. Next, the motion vector field of the image on a block basis was produced using a full search algorithm. Finally, the stereo image was considered to be reversed when the foreground moved toward the background and the covered region was in the foreground. The proposed algorithm achieved a good detection rate when the background was covered sufficiently by its moving foreground.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.61-67
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• 1999

A laser Doppler vibrometer based on the laser heterodyne interferometry is employed to measure the vibration velocity of vibrating objects. In this paper, we propose a real time analog signal processor of a laser Doppler vibrometer to reduce the degradation of Doppler signals mainly caused by environmental noises. In the proposed real time signal processor of an laser Doppler vibrometer, a pre-processor and a logical motion direction detector are designed to reduce the detection errors of the object motion direction. Also, a noise detection and rejection circuit is designed to reject the unfiltered noises.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.5
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• pp.251-257
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• 2010

In this paper, we propose modified algorithm of motion vector detection for the pixel of image in the optical sensor. It is designed to reduce the amount of operation and have more accuracy in the motion detection than previous block matching algorithm. The proposed algorithm is implemented with Cyclone and fabricated using SEC 0.35um CMOS 1-poly-4-metal technology. The result of test with CARTESIAN ROBOT meets the desired performance.

• Journal of Korea Multimedia Society
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• v.21 no.3
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• pp.348-357
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• 2018

The topic of anomaly detection is one of the emerging research themes in computer vision, computer interaction, video analysis and monitoring. Observers focus attention on behaviors that vary in the magnitude or direction of the motion and behave differently in rules of motion with other objects. In this paper, we use this information and propose a system that detects abnormal behavior by using simple features extracted by optical flow. Our system can be applied in real life. Experimental results show high performance in detecting abnormal behavior in various videos.

• Proceedings of the Korean Society of Computer Information Conference
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• 2016.07a
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• pp.297-298
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• 2016

본 논문에서는 손을 보다 효과적으로 인식하기 위해 동작 검출과 피부색 검출을 이용하여 인식하는 시스템을 제안한다. 단순히 피부색만을 이용하여 손을 인식하는 경우 피부색과 유사한 색상의 물체나 다른 신체 부위를 인식하는 문제점이 발생하게 된다. 이러한 문제점을 해결하기 위해 동작 검출을 이용하여 움직이는 물체만을 손이라고 가정하였다. 이렇게 가정을 하고 피부색 검출과 동작 검출을 이용하여 인식하는 경우 신체부위를 제외하고는 거의 검출되지 않는다. 그리고 인식된 영역마다 뼈대를 찾아 손을 검출한다. 조명이나 주변 환경에 최대한 영향을 적게 받기위해 시스템을 설계하였으며 단순 피부색 검출을 이용한 손 검출보다 좋은 성능을 발휘하며 손가락의 개수와 손 모양, 손 추적까지 응용할 수 있다.

• Journal of Advanced Navigation Technology
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• v.13 no.6
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• pp.1011-1016
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• 2009

In this paper, we propose the method of fire detection. A wide distribution of CCTV cameras (Closed Circuit Television) in many public areas can be used not only for video surveillance systems but also for detecting fire occurrence. A proposed approach is based on visual information through a static camera. Video sequences are analyzed to find fire candidates and then spatial analyses procedure for detected fire-like color foreground is carried out. From the simulation results, our method showed the best performance when spatial and temporal fire candidates changes rapidly and close to fire motion.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.71-75
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• 2009

In this paper, we present a real-time method to detect moving objects in a rotating and zooming camera. It is useful for camera surveillance of fixed but rotating camera, camera on moving car, and so on. We first compensate the global motion, and then exploit the displaced frame difference (DFD) to find the block-wise boundary. For robust detection, we propose a kind of image to combine the detections from consecutive frames. We use the block-wise detection to achieve the real-time speed, except the pixel-wise DFD. In addition, a fast block-matching algorithm is proposed to obtain local motions and then global affine motion. In the experimental results, we demonstrate that our proposed algorithm can handle the real-time detection of common object, small object, multiple objects, the objects in low-contrast environment, and the object in zooming camera.