• 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.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.4
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• pp.399-408
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• 2023

In this paper, we propose a solution that enables continuous indoor/outdoor positioning of smartphone users through the integration of Pedestrian Dead Reckoning (PDR) and GPS/WiFi signals. Considering that accurate step detection affects the accuracy of PDR, we propose a Deep Neural Network (DNN)-based technology to distinguish between walking and non-walking signals such as walking in place. Furthermore, in order to integrate PDR with GPS and WiFi signals, a technique is used to select a proper measurement by distinguishing between indoor/outdoor environments based on GPS Dilution of Precision (DOP) information. In addition, we propose a technology to adaptively change the measurement error covariance matrix by detecting measurement outliers that mainly occur in the indoor/outdoor transition section through a residual-based χ² test. It is verified through experiments on a testbed that these technologies significantly improve the performance of PDR and PDR/GPS/WiFi fingerprinting-based integrated pedestrian navigation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.8
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• pp.1825-1830
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• 2015

In some cases, despite the pedestrian jaywalking pedestrian traffic lights to red, or even wait for the walk signal to stand down in the driveway. If this is the case may be liable to lead to a traffic accident. Thus, using an infrared sensor wateuna adopted the approach that the warning announcement when a pedestrian enters the driveway, curved pedestrian crossing the intersection in this case, it is difficult to install. In this paper, we propose a Fitness referral system utilizes a built-in sensor of the Android mobile devices. For this purpose, the sensor is a proximity sensor using an acceleration sensor. The proximity sensor has a number of disadvantages compared to the high precision battery power, the acceleration sensor accuracy, fast response time, on the other hand, the disadvantage is the lower. Close to reduce battery consumption of the sensor, BMI of the user sensor control mechanism and increase the accuracy of the acceleration sensor (Body Mass Index) obtained after the index was applied to the recommendation algorithm, which like the movement mechanism.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.219-221
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• 2022

In recent summer, as it is concentrated, even in mountainous areas, flooding and flooding cause casualties in pedestrian evacuation situations. To compensate for this, a system that detects the occurrence of flooding and allows pedestrians to evacuate safely is required. Therefore, in this paper, we propose a research on pedestrian path search based on the shortest distance algorithm using Map API. The pedestrian route search system outputs a map using the T Map API, selects nearby buildings as shelters, and stores data. A shelter close to the pedestrian's current location is selected, and the shortest route is output and the distance and time are provided. If there is a problem with the current route during evacuation, another shelter route is provided from the current location. Therefore, it is thought that the pedestrian route search evacuation system proposed in this paper will prevent accidents during evacuation.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.6
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• pp.345-351
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• 2014

This paper presents pedestrian recognition to improve performance for vehicle safety system or surveillance system. Pedestrian detection method using HOG (Histograms of Oriented Gradients) has showed 90% recognition rate. But if someone takes a picture in the rain, the image may be distorted by rain streaks and recognition rate goes down by 62%. To solve this problem, we applied image decomposition method using MCA (Morphological Component Analysis). In this case, rain removal method improves recognition rate from 62% to 70%. However, it is difficult to apply conventional image decomposition method using MCA on vehicle safety system or surveillance system as conventional method is too slow for real-time system. To alleviate this issue, we propose a rain removal method by using low-pass filter and DCT (Discrete Cosine Transform). The DCT helps separate the image into rain components. The image is removed rain components by Butterworth filtering. Experimental results show that our method achieved 90% of recognition rate. In addition, the proposed method had accelerated processing time to 17.8ms which is acceptable for real-time system.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.6
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• pp.323-334
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• 2014

In this paper, we proposed indoor positioning system with improved accuracy. The proposed indoor location measurement system is based pedestrian location measurement method that use the embedded sensor of smartphone. So, we do not need wireless external resources, such as GPS or WiFi signals. The conventional methods measure indoor location by generating a movement route of pedestrian by step and direction recognition. In this paper, to correct the direction sensor error, we use the common feature of the normal indoor floor map that the indoor path is lattice-structured. And we quantize moving directions depending on the direction of indoor path. In addition, we propose moving direction measuring method using geomagnetic sensor and gyro sensor to improve the accuracy. Also, the proposed step detection method uses angle and accelerometer sensors. The proposed step detection method is not affected by the posture of the smartphone. Direction errors caused by direction sensor error is corrected due to proposed moving direction measuring method. The proposed location error correction method corrects location error caused by step detection error without the need for external wireless signal resources.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.9
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• pp.2189-2196
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• 2014

In this paper, a VLIW(Very Long Instruction Word) vision coprocessor which can efficiently accelerate computer vision algorithm for automotive is designed. The VLIW coprocessor executes four instructions per clock cycle via 8-stage pipelined structure and has 36 integer and floating-point instructions to accelerate computer vision algorithm for pedestrian detection. The processor has about 300-MHz operating frequency and about 210,900 gates under 45nm CMOS technology and its estimated performance is 1.2 GOPS(Giga Operations Per Second). The vision system composed of vision primitive engine and eight VLIW coprocessors can execute pedestrian detection at 25~29 frames per second(FPS). Because the VLIW coprocessor has high detection rate and loosely coupled interface with host processor, it can be efficiently applicable to a wide range of vision applications.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.569-575
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• 2013

This paper proposes a method for PDR (Pedestrian Dead-Reckoning) using a low cost IMU. Generally, GPS has been widely used for localization of pedestrians. However, GPS is disabled in the indoor environment such as in buildings. To solve this problem, this research suggests the PDR scheme with an IMU attached to the pedestrian's waist. However, despite the fact many methods have been proposed to estimate the pedestrian's position, but their results are not sufficient. One of the most important factors to improve performance is, a new calibration method that has been proposed to obtain the reliable sensor data. In addition to this calibration, the PDR method is also proposed to detect steps, where estimation schemes of step length, attitude, and heading angles are developed. Peak and zero crossings are detected to count the steps from 3-axis acceleration values. For the estimation of step length, a nonlinear step model is adopted to take advantage of using one parameter. Complementary filter and zero angular velocity are utilized to estimate the attitude of the IMU module and to minimize the heading angle drift. To verify the effectiveness of this scheme, a real-time system is implemented and demonstrated. Experimental results show an accuracy of below 1% and below 3% in distance and position errors, respectively, which can be achievable using a high cost IMU.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.2
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• pp.111-116
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• 2021

This study is a study on improving the pedestrian Care system, which delivers jaywalking events in real time to the autonomous driving control center and Autonomous driving vehicles in operation and issues warnings and announcements to pedestrians based on pedestrian signals. In order to secure reliability of object detection method of pedestrian Care system, the inspection method combined with camera sensor with Lidar sensor and the improved system algorithm were presented. In addition, for the occurrence events of Lidar sensors and intelligent CCTV received during the operation of autonomous driving vehicles, the system algorithm for the elimination of overlapping events and the improvement of accuracy of the same time, place, and object was presented.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2015.07a
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• pp.13-16
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• 2015

In any mobile ad hoc environment, collision amongst mobile objects is always likely to occur unless there is a certain level of intelligence to detect and avoid the collision. This phenomenon of detection and avoidance is the key attribute for safety applications in vehicle to pedestrian (V2P) communications systems. In this paper, we propose a V2P communications concept for collision detection and avoidance.