• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.8
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• pp.1885-1896
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• 1996

This paper describes the implementation of the AVT(Automatic video Tracker) using ASIC. The basic tracking algorithm is based on the spatio-temporal gradient method, and adaptive window sizing, track state decision algorithm were also realized. Newly developed ASIC performs recursive image filtering, extraction of spatio-temporal gradient/gradient functions of image in field rate. Using the FPGA/ASIC, the tracker was simply realized in one board type which can be easily applied to various image system. We conformed ASIC operation by computer simulation and tested the system in real tracking situations. From the result, the system can track the moving target which has a velocity of 2-3 pixel/field and a size of varying from 2 to 128 pixes. Also fast refresh rateof motion estimation(60Hz) improves the characteristics of servoing system which forms feedback loop with the tracker.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.873-878
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• 2013

An EOTS (Electro-Optical Tracking System) provides stabilized images while tracking a moving target. This paper presents a novel concept of driving the outer gimbal first for improving the maneuverability of an EOTS, contrary to the conventional inner gimbal mode. It has the advantages of faster positioning performance and stable operation in Nadir-point. Analysis of frequency responses reveal that the present scheme results in a wider control bandwidth and larger gain margin, compared to those of the previous one. The actual experimental results confirm that the maneuvering is stable although the input command has a large angular acceleration.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2594-2596
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• 2001

In this paper, a video tracker with a TMS320C31 DSP is designed and implemented. It is intended to work with PC through PCI Bus and can be used in real-time applications. The DSP board is capable of grabbing image data from camera, and calculating the position of a target, and trackig its movement. The tracking situation can be displayed in a monitor and displacement of the movement is fed back to pan and tilt the camera. Experimental results show that the tracker implemented here works well in real applications.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.44.5-44
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• 2001

This paper proposes the algorithm which a mobile robot tracks the object captured by ultrasonic sensors of the robot and automatically generates a path according to the object In the proposed algorithm, a robot detects movements of the object as using ultrasonic sensors and then the robot follows the moving object. This algorithm simplifies robot path planning. The eight ultrasonic sensors on the robot capture distances between the robot and objects. The robot detects the movements of the object by using the changes of the distances captured by ultrasonic sensors. The target position of the robot is determined as the position of the detected moving object. The robot follows the object according to this movement strategy. The effectiveness of the proposed algorithm is verified through experiments.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.2C
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• pp.156-165
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• 2006

In this paper, a new intelligent moving target tracking and surveillance system basing on the pan/tilt-embedded stereo camera system is suggested and implemented. In the proposed system, once the face area of a target is detected from the input stereo image by using a YCbCr color model and phase-type correlation scheme and then, using this data as well as the geometric information of the tracking system, the distance and 3D information of the target are effectively extracted in real-time. Basing on these extracted data the pan/tilted-imbedded stereo camera system is adaptively controlled and as a result, the proposed system can track the target adaptively under the various circumstance of the target. From some experiments using 480 frames of the test input stereo image, it is analyzed that a standard variation between the measured and computed the estimated target's height and an error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 1.03 and 1.18$\%$ on average, respectively. From these good experimental results a possibility of implementing a new real-time intelligent stereo target tracking and surveillance system using the proposed scheme is finally suggested.

• Korean Journal of Computational Design and Engineering
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• v.18 no.3
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• pp.155-166
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• 2013

We present recent human-vehicle interaction (HVI) research conducted in the area of defense and military application. Research topics discussed in this paper include: training simulation for overland navigation tasks; expertise effects in overland navigation performance and scan patterns; pilot's perception and confidence on an overland navigation task; effects of UAV (Unmanned Aerial Vehicle) supervisory control on F-18 formation flight performance in a simulator environment; autonomy balancing in a manned-unmanned teaming (MUT) swarm attack, enabling visual detection of IED (Improvised Explosive Device) indicators through Perceptual Learning Assessment and Training; usability test on DaViTo (Data Visualization Tool); and modeling peripheral vision for moving target search and detection. Diverse and leading HVI study in the defense domain suggests future research direction in other HVI emerging areas such as automotive industry and aviation domain.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.2
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• pp.39-49
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• 2002

This paper proposes the MAWUPC (Motion Adaptive Weighted Unmatched Pixel Count) algorithm to track multiple objects of similar color The MAWUPC algorithm has the new method that combines color and motion effectively. We apply the MAWUPC algorithm to face and hand tracking against complex background in an image sequence captured by using single camera. The MAWUPC algorithm is an improvement of previously proposed AWUPC (Adaptive weighted Unmatched Pixel Count) algorithm based on the concept of the Moving Color that combines effectively color and motion information. The proposed algorithm incorporates a color transform for enhancing a specific color, the UPC(Unmatched Pixel Count) operation for detecting motion, and the discrete Kalman filter for reflecting motion. The proposed algorithm has advantages in reducing the bad effect of occlusion among target objects and, at the same time, in rejecting static background objects that have a similar color to tracking objects's color. This paper shows the efficiency of the proposed MAWUPC algorithm by face and hands tracking experiments for several image sequences that have complex backgrounds, face-hand occlusion, and hands crossing.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.1
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• pp.229-236
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• 2017

In general, an error budget of monopulse radar is proposed by manufacturer who assuming that all of external enviromental error resources such as multipath, glint, dynamic lag variation are removed. So until now, a measurement uncertainty of monopulse radar can be discussed including external enviromental error resources. In this paper, it is described that which kinds of error resource can effect on monopulse radar measurement uncertainty for different target property. To prove it experimentally, at first a simulation result is described assuming that all of external enviromental error resources are removed. It only includes receiver thermal noise. And then, monopulse radar measurement uncertainty estimation results tracking on calibration target which is fixed on specific position, calibration sphere which is moving slowly, weapon systems firing test which is moving fast are described quantitativly. All of these targets have different dynamic property.