• The KIPS Transactions:PartB
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• v.13B no.3 s.106
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• pp.255-274
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• 2006

Moving object boundary is very important for the accurate segmentation of moving object. We extract the moving object boundary from the moving object edge. But the object boundary shows broken boundaries so we develop a novel boundary linking algorithm to link the broken boundaries. The boundary linking algorithm forms a quadrant around the terminating pixel in the broken boundaries and searches for other terminating pixels to link in concentric circles clockwise within a search radius in the forward direction. The boundary linking algorithm guarantees the shortest distance linking. We register the background from the image sequence using the stationary background filtering. We construct two object masks, one object mask from the boundary linking and the other object mask from the initial moving object, and use these two complementary object masks to segment the moving objects. The main contribution of the proposed algorithms is the development of the novel object boundary linking algorithm for the accurate segmentation. We achieve the accurate segmentation of moving object, the segmentation of multiple moving objects, the segmentation of the object which has a hole within the object, the segmentation of thin objects, and the segmentation of moving objects in the complex background using the novel object boundary linking and the background automatically. We experiment the algorithms using standard MPEG-4 test video sequences and real video sequences of indoor and outdoor environments. The proposed algorithms are efficient and can process 70.20 QCIF frames per second and 19.7 CIF frames per second on the average on a Pentium-IV 3.4GHz personal computer for real-time object-based processing.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.130-138
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• 2024

High-precision 3D Object Detection is a crucial component within autonomous driving systems, with far-reaching implications for subsequent tasks like multi-object tracking and path planning. In this paper, we propose a novel approach designed to enhance the performance of 3D Object Detection, especially in heading angle estimation by employing a moving object segmentation technique. Our method starts with extracting point-wise moving labels via a process of moving object segmentation. Subsequently, these labels are integrated into the LiDAR Pointcloud data and integrated data is used as inputs for 3D Object Detection. We conducted an extensive evaluation of our approach using the KITTI-road dataset and achieved notably superior performance, particularly in terms of AOS, a pivotal metric for assessing the precision of 3D Object Detection. Our findings not only underscore the positive impact of our proposed method on the advancement of detection performance in lidar-based 3D Object Detection methods, but also suggest substantial potential in augmenting the overall perception task capabilities of autonomous driving systems.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.321-329
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• 1999

Moving Object segmentation extracts an interested moving object on a consecutive image frames, and has been used for factory automation, autonomous navigation, video surveillance, and VOP(Video Object Plane) detection in a MPEG-4 method. This paper proposes new segmentation method using difference images are calculated with three consecutive input image frames, and used to calculate both coarse object area(AI) and it's movement area(OI). An AI is extracted by removing background using background area projection(BAP). Missing parts in the AI is recovered with help of the OI. Boundary information of the OI confines missing parts of the object and gives inital curves for active contour optimization. The optimized contours in addition to the AI make the boundaries of the moving object. Experimental results of a fast moving object on a complex background scene are included.

• Journal of Korea Multimedia Society
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• v.7 no.9
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• pp.1240-1245
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• 2004

This paper presents the moving objects segmentation algorithms from the sequence images in the stationary backgrounds such as surveillance camera and video phone and so on. In this paper, the moving object area is extracted with proposed object searching algorithm and then moving object is segmented within the moving object area. Also the proposed algorithms have the robustness against noise problems and results show the proposed algorithm is able to efficiently segment and track the moving object area.

• Journal of KIISE:Computer Systems and Theory
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• v.31 no.5_6
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• pp.305-320
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• 2004

Moving object segmentation is a fundamental function for content-based application. Moving object edges are produced by matching the detected moving edges with the current frame edges. But we can often experience the object edge disconnectedness due to coincidence of similarity between the object and background colors or the decrease of movement of moving object. The edge disconnectedness is a serious problem because it degrades the object visual quality so conspicuously That it sometimes makes it inadequate to perform content-based coding. We have solved this problem by developing a robust and comprehensive edge linking algorithm. And we also developed an automatic moving object segmentation algorithm. These algorithms can produce the completely linked moving object edge boundary and the accurate moving object segmentation. These algorithms can process CIF 30 frames/sec in a PC. These algorithms can be used for the MPEG-4 content-based coding.

• Journal of KIISE:Computing Practices and Letters
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• v.8 no.4
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• pp.430-441
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• 2002

Video object segmentation is an important component for object-based video coding scheme such as MPEG-4. In this paper, a robust algorithm for segmentation of moving objects in video sequences and VOP(Video Object Planes) extraction is presented. The points of this paper are detection, of an accurate object boundary by associating moving object edge with spatial object edge and generation of VOP. The algorithm begins with the difference between two successive frames. And after extracting difference image, the accurate moving object edge is produced by using the Canny algorithm and morphological operation. To enhance extracting performance, we app]y the morphological operation to extract more accurate VOP. To be specific, we apply morphological erosion operation to detect only accurate object edges. And moving object edges between two images are generated by adjusting the size of the edges. This paper presents a robust algorithm implementation for fast moving object detection by extracting accurate object boundaries in video sequences.

• Journal of KIISE:Software and Applications
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• v.32 no.2
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• pp.128-139
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• 2005

Moving object boundary is very important for moving object segmentation. But the moving object boundary shows broken boundary We invent a novel space-oriented boundary linking algorithm to link the broken boundary The boundary linking algorithm forms a quadrant around the terminating pixel in the broken boundary and searches forward other terminating pixel to link within a radius. The boundary linking algorithm guarantees shortest distance linking. We also register the background from image sequence. We construct two object masks, one from the result of boundary linking and the other from the registered background, and use these two complementary object masks together for moving object segmentation. We also suppress the moving cast shadow using Roberts gradient operator. The major advantages of the proposed algorithms are more accurate moving object segmentation and the segmentation of the object which has holes in its region using these two object masks. We experiment the algorithms using the standard MPEG-4 test sequences and real video sequence. The proposed algorithms are very efficient and can process QCIF image more than 48 fps and CIF image more than 19 fps using a 2.0GHz Pentium-4 computer.

• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.5
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• pp.277-285
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• 2016

Moving object detection system has been an emerging research field in various advanced driver assistance systems (ADAS) and surveillance system. In this paper, we propose two optical flow based moving object detection methods at dynamic scenes. Both proposed methods consist of three successive steps; pre-processing, foreground segmentation, and post-processing steps. Two proposed methods have the same pre-processing and post-processing steps, but different foreground segmentation step. Pre-processing calculates mainly optical flow map of which each pixel has the amplitude of motion vector. Dense optical flows are estimated by using Farneback technique, and the amplitude of the motion normalized into the range from 0 to 255 is assigned to each pixel of optical flow map. In the foreground segmentation step, moving object and background are classified by using the optical flow map. Here, we proposed two algorithms. One is Gaussian mixture model (GMM) based background subtraction, which is applied on optical map. Another is adaptive thresholding based foreground segmentation, which classifies each pixel into object and background by updating threshold value column by column. Through the simulations, we show that both optical flow based methods can achieve good enough object detection performances in dynamic scenes.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1377-1381
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• 2003

This paper describes real time object tracking of 3D objects in 2D image sequences. The moving objects are segmented from the image sequence using morphological operations. The moving objects are segmented by the method of differential image followed by the process of morphological dilation. The moving objects are recognized and tracked using statistical moments. The direction of moving objects are determined by the Hough transform. The straight lines in the moving objects are found with the help of Hough transform. The direction of the moving object is calculated from the orientation of the straight lines in the direction of the principal axes of the moving objects. The direction of the moving object and the displacement of the object in the image sequence is used to calculate the velocity of the moving objects. The simulation results of the proposed method are promising on the test images.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.6
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• pp.2669-2688
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• 2016

An efficient and effective unsupervised single moving object detection framework is presented in this paper. Given the sparsely labelled trajectory points, we adopt a coarse-to-fine strategy to detect and segment the foreground from the background. The superpixel level coarse segmentation reduces the complexity of subsequent processing, and the pixel level refinement improves the segmentation accuracy. A distance measurement is devised in the coarse segmentation stage to measure the similarities between generated superpixels, which can then be used for clustering. Moreover, a Quadmap is introduced to facilitate the refinement in the fine segmentation stage. According to the experiments, our algorithm is effective and efficient, and favorable results can be achieved compared with state-of-the-art methods.