• Journal of the Korean Society for Precision Engineering
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• v.16 no.7
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• pp.125-131
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• 1999

In this paper, the algorithms which can track the two dimensional moving circular object using simple vision system are described. In order to track the moving object, the process of finding the object feature points - such as centroid of the object, corner points, area - is indispensable. With the assumption of two-dimensional circular moving object, the centroid of the circular object is computed from three points on the object circumference. Different kinds of algorithms for computing three edge points - simple x directional detection method, stick method. T-shape method are suggested. Through the computer simulation and experiments, three algorithms are compared from the viewpoint of detection accuracy and computational time efficiency.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.4
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• pp.787-795
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• 1998

In this paper, we have improved the speed of gradient operation, which needs to calculate Optical Flow for estimating a moving object, and proposed a method which estimate the contour of a moving object by the logical operationg of Optical Flow and edge in noisy images. The proposed method, which recognize to a moving ogject and traking a moving object, using logical operation of Optical Flow and edge in low-level has a advantage that is simpler than the known method for moving objects estimation. In addition, we have simulated several images using method I and method II on improved Gradient operation speed. When we have compared the average value of total operation time, method I is improved with 12% of operation speed compared with the known method, method II is improved with 38% operation speed.

• The KIPS Transactions:PartB
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• v.14B no.3 s.113
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• pp.171-182
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• 2007

We propose a simple method for tracking a nonparameterized subject contour in a single video stream with a moving camera and changing background. Then we present a method to eliminate the tracked contour object by replacing with the background scene we get from other frame. First we track the object using LOD (Level-of-Detail) canny edge maps, then we generate background of each image frame and replace the tracked object in a scene by a background image from other frame that is not occluded by the tracked object. Our tracking method is based on level-of-detail (LOD) modified Canny edge maps and graph-based routing operations on the LOD maps. We get more edge pixels along LOD hierarchy. Our accurate tracking is based on reducing effects from irrelevant edges by selecting the stronger edge pixels, thereby relying on the current frame edge pixel as much as possible. The first frame background scene is determined by camera motion, camera movement between two image frames, and other background scenes are computed from the previous background scenes. The computed background scenes are used to eliminate the tracked object from the scene. In order to remove the tracked object, we generate approximated background for the first frame. Background images for subsequent frames are based on the first frame background or previous frame images. This approach is based on computing camera motion. Our experimental results show that our method works nice for moderate camera movement with small object shape changes.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.352-355
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• 2000

In this paper, we propose an adaptive thresholding for edge detection. first, we got histograms for background image and image with moving object, respectively. Then we make difference histogram between histograms of background and object image. A thresholding value is decided using gradient of peak to peak in the difference histogram. The experimentation is processed using a moving car in the road. The result is that edge is detected well regardless of the brightness.

• Proceedings of the Korea Information Processing Society Conference
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• 2007.05a
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• pp.333-336
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• 2007

We propose a simple method for tracking a nonparameterized subject contour in a single video stream with a moving camera and changing background. Then we present a method to eliminate the tracked contour object by replacing with the background scene we get from other frame. Our method consists of two parts: first we track the object using LOD (Level-of-Detail) canny edge maps, then we generate background of each image frame and replace the tracked object in a scene by a background image from other frame that is not occluded by the tracked object. Our tracking method is based on level-of-detail (LOD) modified Canny edge maps and graph-based routing operations on the LOD maps. To reduce side-effects because of irrelevant edges, we start our basic tracking by using strong Canny edges generated from large image intensity gradients of an input image. We get more edge pixels along LOD hierarchy. LOD Canny edge pixels become nodes in routing, and LOD values of adjacent edge pixels determine routing costs between the nodes. We find the best route to follow Canny edge pixels favoring stronger Canny edge pixels. Our accurate tracking is based on reducing effects from irrelevant edges by selecting the stronger edge pixels, thereby relying on the current frame edge pixel as much as possible. This approach is based on computing camera motion. Our experimental results show that our method works nice for moderate camera movement with small object shape changes.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.495-502
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• 2003

This paper focuses on the implementation of an efficient tracking method of a moving object using optimal representative blocks by way of a pan-tilt camera. The key idea is derived from the fact that when the image size of a moving object is shrunk in an image frame according to the distance between the mobile robot camera and the object in motion, the tracking performance of a moving object can be improved by reducing the size of representative blocks according to the object image size. Motion estimations using Edge Detection (ED) and Block-Matching Algorithm (BMA) are regularly employed to track objects by vision sensors. However, these methods often neglect the real-time vision data since these schemes suffer from heavy computational load. In this paper, a representative block able to significantly reduce the amount of data to be computed, is defined and optimized by changing the size of representative blocks according to the size of the object in the image frame in order to improve tracking performance. The proposed algorithm is verified experimentally by using a two degree-of- freedom active camera mounted on a mobile robot.

• Proceedings of the IEEK Conference
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• 2000.11b
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• pp.112-115
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• 2000

This paper describes the algorithm, architecture and design of the circuit implementing motion tracing features based on the edge detection. The Sobel operation was used to compute the edges of moving objects. Motion tracing is performed by searching for the center of the edges for each frame and adding those centers. The edger and the centers of the moving object from camera were displayed in the monitor and verified using Xillinx FPGA.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.1
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• pp.162-169
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• 2022

In a dynamically changing time-varying network environment, the optimal moving pattern of edge devices can be applied to distributing computing resources to edge cloud servers or deploying new edge servers in the FEC(Fog/Edge Computing) environment. In addition, this can be used to build an environment capable of efficient computation offloading to alleviate latency problems, which are disadvantages of cloud computing. This paper proposes an algorithm to extract the optimal moving pattern by analyzing the moving path of multiple edge devices requiring application services in an arbitrary spatio-temporal environment based on frequency. A comparative experiment with A^* and Dijkstra algorithms shows that the proposed algorithm uses a relatively fast execution time and less memory, and extracts a more accurate optimal path. Furthermore, it was deduced from the comparison result with the A^* algorithm that applying weights (preference, congestion, etc.) simultaneously with frequency can increase path extraction accuracy.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1987.04a
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• pp.46-48
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• 1987

In the difference picture(DP) which is obtatined from two subsequent images we detect edge intersection points(EIP) and estimate the directions in which edges disappear at those points, Then we group the DP regions which the motion of the object makes and we extract the moving object.

• The KIPS Transactions:PartB
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• v.9B no.4
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• pp.465-470
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• 2002

This paper presents a new model based method for tracking moving object from a moving camera. In the proposed method, binary model is derived from detected object regions and Hausdorff distance between the model and edge image is used as its similarity measure to overcome the target's shape changes. Also, a novel search algorithm and some optimization methods are proposed to enable realtime processing. The experimental results on our test sequences demonstrate the high efficiency and accuracy of our approach.