• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.3
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• pp.173-182
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• 2015

A real-time, Indoor navigation systems utilize ultra-wide band (UWB), radio-frequency identification (RFID) and received signal strength (RSS) techniques that encompass WiFi, FM, mobile communications, and other similar technologies. These systems typically require surplus infrastructure for their implementation, which results in significantly increased costs and complexity. Therefore, as a solution to reduce the level of cost and complexity, an inertial measurement unit (IMU) and quick response (QR) codes are utilized in this paper to facilitate navigation with the assistance of a smartphone. The QR code helps to compensate for errors caused by the pedestrian dead reckoning (PDR) algorithm, thereby providing more accurate localization. The proposed algorithm having IMU in conjunction with QR code shows an accuracy of 0.64 m which is higher than existing indoor navigation techniques.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.5
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• pp.1010-1018
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• 2009

An inertial navigation system for pedestrian position tracking is proposed, where the position is computed using inertial sensors mounted on shoes. Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it needs to reset errors frequently. During normal walking, there is an almost periodic zero velocity instance when a foot touches the floor. Using this fact, estimation errors are reduced and this method is called the zero velocity updating algorithm. When implementing this zero velocity updating algorithm, it is important to know when is the zero velocity interval. The gait states are modeled as a Markov process and each state is estimated using the hidden Markov model smoother. With this gait estimation, the zero or nearly zero velocity interval is more accurately estimated, which helps to reduce the position estimation error.

• Proceedings of the KOR-KST Conference
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• 2007.11a
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• pp.852-858
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• 2007

• 한국ITS학회:학술대회논문집
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• v.2007 no.10
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• pp.124-129
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• 2007

• Transportation Technology and Policy
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• v.13 no.5
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• pp.48-55
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• 2016

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.1
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• pp.169-174
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• 2018

There are many CCTV cameras connected to the video surveillance and monitoring center for the safety of citizens, and it is difficult for a few monitoring agents to monitor many channels of videos. In this paper, we propose an intelligent video surveillance system utilizing a safety map to efficiently monitor many channels of CCTV camera videos. The safety map establishes the frequency of crime occurrence as a database, expresses the degree of crime risk and makes it possible for agents of the video surveillance center to pay attention when a woman enters the crime risk area. The proposed gender classification method is processed in the order of pedestrian detection, tracking and classification with deep training. The pedestrian detection and tracking uses Adaboost algorithm and probabilistic data association filter, respectively. In order to classify the gender of the pedestrian, relatively simple AlexNet is applied to determine gender. Experimental results show that the proposed gender classification method is more effective than the conventional algorithm. In addition, the results of implementation of intelligent video security system combined with safety map are introduced.

• Archives of design research
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• v.19 no.2 s.64
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• pp.81-90
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• 2006

Pedestrians perceive differently from the sideway views or the exteriors of the buildings on the way to their destinations. Therefore, the navigation experience can become much different when the path was chosen based on the individual's preference from it is not. By focusing on the effects of the individual pedestrian' path choice on their navigation, this paper presents an algorithm designed for pedestrians to be able to explore their preferred path and proposes a prototype of navigation system based on the algorithm. The navigation support system searches for the best path upon their individual preferences and information of the destination. The system provides the process of retrieving the final path via the pedestrian-support system interaction. The path retrieval is peformed with the combinational matrix of keywords that are formulates Fuzzy theory from the correlations between the terms describing preferences used in the path preference survey. This paper presents the potentials of the path finding method tailored to pedestrians' preferences by a simulation of the proposed path retrieval algorithm.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.2D
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• pp.147-154
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• 2008

A variety of activity happens around the sidewalk in the city. Particularly, a large variety of activity happens in shopping area, but it causes an obstruction of economical revitalization since the pedestrians require time and cost to find what they want. So, this study will develop the path searching method to minimize the economical loss of shoppers by providing the significant path and supporting the walking movement. Firstly, consider existing network expression techniques and approach three points which are physical and environmental factor, the recognition of the pedestrians' space when changing the direction, and the recognition of restriction of vision and accessibility. Try to design the network DB and simulate the algorithm. As a result, it is now possible to do the path searching that considers variety of recognition factors and show the method how to make the path-searching algorithm for pedestrian.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.01a
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• pp.407-408
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• 2023

In this paper, we intend to develop a multimodal algorithm that secures recognition performance of over 95% in daytime illumination environments and secures recognition performance of over 90% in bad weather (rainfall and snow) and night illumination environments.