• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.3
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• pp.11-22
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• 2010

This paper is a study on implementation of intelligent image surveillance system using context information and supplements temporal-spatial constraint, the weak point in which it is hard to process it in real time. In this paper, we propose scene analysis algorithm which can be processed in real time in various environments at low resolution video(320*240) comprised of 30 frames per second. The proposed algorithm gets rid of background and meaningless frame among continuous frames. And, this paper uses wavelet transform and edge histogram to detect shot boundary. Next, representative key-frame in shot boundary is selected by key-frame selection parameter and edge histogram, mathematical morphology are used to detect only motion region. We define each four basic contexts in accordance with angles of feature points by applying vertical and horizontal ratio for the motion region of detected object. These are standing, laying, seating and walking. Finally, we carry out scene analysis by defining simple context model composed with general context and emergency context through estimating each context's connection status and configure a system in order to check real time processing possibility. The proposed system shows the performance of 92.5% in terms of recognition rate for a video of low resolution and processing speed is 0.74 second in average per frame, so that we can check real time processing is possible.

• The KIPS Transactions:PartB
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• v.11B no.3
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• pp.267-274
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• 2004

In this paper, the interesting moving objects tracking algorithm using color information on Multi-Video camera is proposed Moving objects are detected by using difference image method and integral projection method to background image and objects image only with hue area, after converting RGB color coordination of image which is input from multi-video camera into HSI color coordination. Hue information of the detected moving area are normalized by 24 steps from 0$^{\circ}$ to 360$^{\circ}$ It is used for the feature parameters of the moving objects that three normalization levels with the highest distribution and distance among three normalization levels after obtaining a hue distribution chart of the normalized moving objects. Moving objects identity among four cameras is distinguished with distribution of three normalization levels and distance among three normalization levels, and then the moving objects are tracked and surveilled. To examine propriety of the proposed method, four cameras are set up indoor difference places, humans are targeted for moving objects. As surveillance results of the interesting human, hue distribution chart variation of the detected Interesting human at each camera in under 10%, and it is confirmed that the interesting human is tracked and surveilled by using feature parameters at four cameras, automatically.

• Journal of Space Technology and Applications
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• v.4 no.1
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• pp.1-11
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• 2024

Korea Astronomy and Space Science Institute (KASI) developed an satellite laser ranging (SLR) system for tracking space objects using ultra-pulsed lasers. For the safe operation of SLR system, aircraft surveillance radar system (ASRS) was developed to prevent human damage from high power laser transmitted from the SLR system. The ASRS consists of the radar hardware subsystem (RHS) and main control subsystem (MCS), in order to detect flying objects in the direction of laser propagation and then stop immediately the laser transmission. The RHS transmits the radio frequency (RF) pulse signals and receives the returned signals, while the MCS analyzes the characteristics of received signals and distinguishes the existence of flying objects. If the flying objects are determined to be existed, the MCS sends the command signal to the laser controller in SLR system to pause the laser firing. In this study, we address the interface and operational scenarios of ASRS, including the design of RHS and MCS. It was demonstrated in the aircraft experiments that the ASRS could detect an aircraft and then stop transmitting high power laser successfully.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.6
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• pp.1183-1188
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• 2016

Kinect sensor version 2 is a kind of camera released by Microsoft as a computer vision and a natural user interface for game consoles like Xbox one. It allows acquiring color images, depth images, audio input and skeletal data with a high frame rate. In this paper, using depth image, we present a surveillance system of a certain area within Kinect's field of view. With computer vision library(Emgu CV), if an object is detected in the target area, it is tracked and kinect camera takes RGB image to send it in database server. Therefore, a mobile application on android platform was developed in order to notify the user that Kinect has sensed strange motion in the target region and display the RGB image of the scene. User gets the notification in real-time to react in the best way in the case of valuable things in monitored area or other cases related to a reserved zone.

• The KIPS Transactions:PartB
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• v.17B no.6
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• pp.405-412
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• 2010

Previous background generation techniques showed bad performance in complex environments since they used only temporal contexts. To overcome this problem, in this paper, we propose a new background generation method which incorporates spatial as well as temporal contexts of the image. This enabled us to obtain 'clean' background image with no moving objects. In our proposed method, first we divided the sampled frame into m*n blocks in the video sequence and classified each block as either static or non-static. For blocks which are classified as non-static, we used MRF framework to model them in temporal and spatial contexts. MRF framework provides a convenient and consistent way of modeling context-dependent entities such as image pixels and correlated features. Experimental results show that our proposed method is more efficient than the traditional one.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.4
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• pp.812-820
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• 2012

In this paper, multiple pedestrians tracking system using Histogram of Oriented Gradient and occlusion detection is proposed. The proposed system is applicable to Intelligent Surveillance System. First, we detect pedestrian in a image sequence using pedestrian's feature. To get pedestrian's feature, we make block-histogram using gradient's direction histogram based on HOG(Histogram of Oriented Gradient), after that a pedestrian region is classified by using Linear-SVM(Support Vector Machine) training. Next, moving objects are tracked by using position information of the classified pedestrians. And we create motion trajectory descriptor which is used for content based event retrieval. The experimental results show that the proposed method is more fast, accurate and effective than conventional methods.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.12
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• pp.2911-2916
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• 2015

The CCTV is limited by weather conditions. To overcome this limitation, we develop a monitoring program that can sense the approach or recede of two or more objects within a surveillance system that uses a continuous-wave (CW) Doppler radar, and we proposed an algorithm to efficiently detect the approach or recede information of the object. The proposed algorithm separates the signal received by the CW Doppler radar into the real and imaginary parts using Fast Fourier Transform (FFT), and sums the amplitudes for each frequency to determine whether the objects are approaching or receding, using their locations. The algorithm is verified by simulations and experiments, which confirms that it successfully detects the approach or recede of two objects.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.2
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• pp.160-166
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• 2020

As mobile-based hardware technology develops, many kinds of applications are also being developed. In addition, there is an increasing demand to automatically check that the interface of these applications works correctly. In this paper, we describe a method for accurately detecting faulty images from applications by comparing major characteristics from input color images. For this purpose, our method first extracts major characteristics of the input image, then calculates the differences in the extracted major features, and decides if the test image is a normal image or a faulty image dissimilar to the reference image. Experiment results show that the suggested approach robustly determines similar and dissimilar images by comparing major characteristics from input color images. The suggested method is expected to be useful in many real application areas related to computer vision, like video indexing, object detection and tracking, image surveillance, and so on.