• 로봇학회논문지
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• 제14권2호
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• pp.139-149
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• 2019

In this paper, we present auto-annotation tool and synthetic dataset using 3D CAD model for deep learning based object detection. To be used as training data for deep learning methods, class, segmentation, bounding-box, contour, and pose annotations of the object are needed. We propose an automated annotation tool and synthetic image generation. Our resulting synthetic dataset reflects occlusion between objects and applicable for both underwater and in-air environments. To verify our synthetic dataset, we use MASK R-CNN as a state-of-the-art method among object detection model using deep learning. For experiment, we make the experimental environment reflecting the actual underwater environment. We show that object detection model trained via our dataset show significantly accurate results and robustness for the underwater environment. Lastly, we verify that our synthetic dataset is suitable for deep learning model for the underwater environments.

• 대한임베디드공학회논문지
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• 제19권2호
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• pp.91-99
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• 2024

Collision avoidance system is important to improve the robustness and functional safety of autonomous vehicles. This paper proposes an object-level distance estimation method to develop a collision avoidance system, and it is applied to golfcarts utilized in country club environments. To improve the detection accuracy, we continually trained an object detection model based on pseudo labels generated by a pre-trained detector. Moreover, we propose object-aware depth estimation (OADE) method which trains a depth model focusing on object regions. In the OADE algorithm, we generated dense depth information for object regions by utilizing detection results and sparse LiDAR points, and it is referred to as object-aware LiDAR projection (OALP). By using the OALP maps, a depth estimation model was trained by backpropagating more gradients of the loss on object regions. Experiments were conducted on our custom dataset, which was collected for the travel distance of 22 km on 54 holes in three country clubs under various weather conditions. The precision and recall rate were respectively improved from 70.5% and 49.1% to 95.3% and 92.1% after the continual learning with pseudo labels. Moreover, the OADE algorithm reduces the absolute relative error from 4.76% to 4.27% for estimating distances to obstacles.

• 대한임베디드공학회논문지
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• 제18권5호
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• pp.203-208
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• 2023

Recently, with the growing interest in the field of autonomous driving, many researchers have been focusing on developing autonomous driving software platforms. In particular, we have concentrated on developing 3D object detection models that can improve real-time performance. In this paper, we introduce a self-constructed 3D LiDAR dataset specific to domestic environments and propose a VariFocal-based CenterPoint for the 3D object detection model, with improved performance over the previous models. Furthermore, we present experimental results comparing the performance of the 3D object detection modules using our self-built and public dataset. As the results show, our model, which was trained on a large amount of self-constructed dataset, successfully solves the issue of failing to detect large vehicles and small objects such as motorcycles and pedestrians, which the previous models had difficulty detecting. Consequently, the proposed model shows a performance improvement of about 1.0 mAP over the previous model.

• Journal of Platform Technology
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• 제11권4호
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• pp.3-12
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• 2023

포스트-코로나 시대에는 방역 조치의 중요성이 크게 강조되고 있으며, 이에 맞춰 딥러닝을 이용한 마스크 착용 상태 검출 및 다른 전염병 예방에 관련된 연구가 진행되고 있다. 그러나 질병 확산 방지를 위한 문화시설 관람객 탐지 및 추적 연구도 마찬가지로 중요하므로 이에 대한 연구가 진행되어야 한다. 본 논문에서는 사전 수집된 데이터 셋을 이용하여 컨볼루션 신경망 기반 객체 탐지 모델을 전이 학습시키고, 학습된 탐지 모델의 가중치를 다중 객체 추적 모델에 적용하여 방문객을 모니터링 한다. 방문객 탐지 모델은 Precision 96.3%, Recall 85.2% F1-Score 90.4%의 결과를 보여주었다. 추적 모델의 정량적 결과로 MOTA 65.6%, IDF1 68.3%. HOTA 57.2%의 결과를 보여주었으며, 본 논문의 모델과 다른 다중 객체 추적 모델 간의 정성적 비교에서 우수한 결과를 보여주었다. 본 논문의 연구는 포스트-코로나 시대의 문화시설 내 방역 시스템에 적용될 수 있을 것이다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제12권2호
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• pp.91-98
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• 2023

인간-객체 상호작용 탐지는 객체 탐지와 상호작용 인식을 함께 풀어야하는 분야로 탐지 모델의 학습을 위해서 많은 데이터를 필요로 한다. 현재 공개된 데이터셋은 규모가 부족하여 데이터 증강 기법에 대한 요구가 커지고 있으나, 대부분의 연구에서 기존의 객체 탐지, 이미지 분할분야에서 활용하는 증강 기법을 활용하고 있는 실정이다. 이에 본 연구에서는 인간-객체 상호작용 탐지 분야에서 활용하는 데이터셋의 특성을 파악하고, 이를 통해 인간-객체 상호작용 탐지 모델 성능 향상에 효과적인 데이터 증강 기법을 제안한다. 본 연구에서 제안한 증강 기법에 대한 검증을 위하여 실험 환경을 구축하고, 기존의 학습 모델에 적용하여 증강 기법을 적용할 경우에 탐지 모델의 성능 향상이 가능함을 확인하였다.

• 디지털산업정보학회논문지
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• 제19권4호
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• pp.117-126
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• 2023

Traditional markets, formed naturally, often feature aged buildings and facilities that are susceptible to fire. However, the lack of adequate fire detection systems in these markets can easily lead to large-scale fires upon ignition. Therefore, this study was conducted with the aim of detecting fires in traditional markets, utilizing thermal imaging cameras for data collection and the YOLOv8 model for object detection experiments. Data were collected in the night markets within traditional markets of xx city and by simulating fire scenarios. A comparative analysis of the Nano and XL models of YOLOv8 revealed that the XL model is more effective in detecting fires. The XL model not only demonstrated higher accuracy in correctly identifying flames but also tended to miss fewer fires compared to the Nano model. In the case of objects other than flames, the XL model showed superior performance over the Nano model. Taking all these factors into account, it is anticipated that with further data collection and improvement in model performance, a suitable fire detection system for traditional markets can be developed.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.35-41
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• 2012

This paper proposes a moving object detection algorithm for active camera system that can be applied to mobile robot and intelligent surveillance system. Most of moving object detection algorithms based on a stationary camera system. These algorithms used fixed surveillance system that does not consider the motion of the background or robot tracking system that track pre-learned object. Unlike the stationary camera system, the active camera system has a problem that is difficult to extract the moving object due to the error occurred by the movement of camera. In order to overcome this problem, the motion of the camera was compensated by using SURF and Pseudo Perspective model, and then the moving object is extracted efficiently using stochastic Label Cluster transport model. This method is possible to detect moving object because that minimizes effect of the background movement. Our approach proves robust and effective in terms of moving object detection in active camera system.

• 드라이브 ㆍ 컨트롤
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• 제19권3호
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• pp.23-31
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• 2022

Traffic safety issues have recently been seriously magnified, due to child deaths in apartment complexes and parking lots. Accordingly, traffic safety technologies are being developed to recognize dangerous situations on living roads and to provide warning services. In this study, a collision detection algorithm was developed to prevent collision accidents between moving objects, by using object type and location information provided from CCTV monitoring devices. To determine the exact collision between moving objects, an object movement model was developed to predict the range of movement by considering the moving characteristics of the object, and a collision detection algorithm was developed to efficiently analyze the presence and location of the collision. The developed object movement model as well as the collision detection algorithm were simulated, in a virtual space of an actual living road to verify performance and derive supplementary matters.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 봄 학술논문 발표대회
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• pp.251-252
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• 2023

As technology improves with the 4th industrial revolution, smart construction is becoming a key part of safety management in the architecture and civil engineering. By using object detection technology with CCTV data, construction sites can be managed efficiently. In this study, super resolution technology based on deep learning is proposed to improve the accuracy of object detection in construction sites. As the resolution of a train set data and test set data get higher, the accuracy of object detection model gets better. Therefore, according to the scale of construction sites, different object detection models can be considered.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2022년도 추계학술대회
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• pp.54-57
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• 2022

대한민국은 산불의 위험으로부터 취약한 환경을 가지고 있으며, 이로 인해 매년 큰 피해가 발생하고 있다. 이를 예방하기 위해 많은 인력을 활용하고 있으나 효과가 미흡한 실정이다. 만약 인공지능 기술을 통해 산불을 조기 발견해 진화된다면 재산 및 인명피해를 막을 수 있다. 본 논문에서는 산불의 피해를 최소화하기 위한 오브젝트 디텍션 모델을 제작하는 과정에서 발생하는 데이터 수집과 가공 과정을 최소화하는 목표로 한 객체 이중 탐지 방법을 연구했다. YOLOv5에서 한정된 이미지를 학습한 단일 모델을 통해 일차적으로 원본 이미지를 탐지하고, 원본 이미지에서 탐지된 객체를 Crop을 통해 잘라낸다. 이렇게 잘린 이미지를 재탐지하는 객체 이중 탐지 방법을 통해 오 탐지 객체 탐지율의 개선 가능성을 확인했다.