• ETRI Journal
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• v.45 no.5
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.615-618
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• 1999

In this paper, a object detection and tracking algorithm is presented which exhibits robust properties for image sequences with complex background. The proposed algorithm is composed of three parts: moving object detection, object tracking, and motion analysis. The moving object detection algorithm is implemented using a temporal median background method which is suitable for real-time applications. In the motion analysis, we propose a new technique for removing a temporal clutter, such as a swaying plant or a light reflection of a background object. In addition, we design a multiple vehicle tracking system based on Kalman filtering. Computer simulation of the proposed scheme shows its robustness for MPEG-7 test image sequences.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_1
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• pp.217-223
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• 2023

With the rapid advancement of technologies, need for different research fields where this technology can be used is also increasing. One of the most researched topic in computer vision is object detection, which has widely been implemented in various fields which include healthcare, video surveillance and education. The main goal of object detection is to identify and categorize all the objects in a target environment. Specifically, methods of object detection consist of a variety of significant techniq ues, such as image processing and patterns recognition. Anomaly detection is a part of object detection, anomalies can be found various scenarios for example crowded places such as subway stations. An abnormal event can be assumed as a variation from the conventional scene. Since the abnormal event does not occur frequently, the distribution of normal and abnormal events is thoroughly imbalanced. In terms of public safety, abnormal events should be avoided and therefore immediate action need to be taken. When abnormal events occur in certain places, real time detection is required to prevent and protect the safety of the people. To solve the above problems, we propose a modified YOLOv5 object detection algorithm by implementing dilated convolutional layers which achieved 97% mAP50 compared to other five different models of YOLOv5. In addition to this, we also created a simple mobile application to avail the abnormal event detection on mobile phones.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.4
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• pp.85-94
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• 2004

Object tracking in a real time image is one of interesting subjects in computer vision and many Practical application fields during the past couple of years. But sometimes existing systems cannot find all objects by recognizing background noise as object. This paper proposes a method of object detection and tracking using adaptive background image in real time. To detect object which is not influenced by illumination and to remove noise in background image, this system generates adaptive background image by real time background image updating. This system detects object using the difference between background image and input image from camera. After setting up Minimum Bounding Rectangle(MBR) using the internal point of detected object, the system tracks object through this MBR In addition, this paper evaluates the test result about performance of proposed method as compared with existing tracking algorithm.

• Journal of Practical Engineering Education
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• v.13 no.3
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• pp.491-496
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• 2021

In this thesis, we intend to use CCTVs installed in existing parking lots to understand the current status of parking lots and provide real-time information to users through Android applications. It describes how to set the ROI in the parking area using YOLO V3 and how to provide the number of vacancies that change in real time through the set ROI, and describes how to link CCTV-server-user using IMAGE ZMQ and FIREBASE. The user can know the real-time situation of the parking lot near the destination before arriving through the application and can come up with various measures accordingly.

• 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 Internet of Things and Convergence
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• v.10 no.2
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• pp.103-108
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• 2024

In this paper, a smart elevator system was studied using real-time object detection technology based on YOLO(You only look once)v5. When an external elevator button is pressed, the YOLOv5 model analyzes the camera video to determine whether there are people waiting, and if it determines that there are no people waiting, the button is automatically canceled. The study introduces an effective method of implementing object detection and communication technology through YOLOv5 and MQTT (Message Queuing Telemetry Transport) used in the Internet of Things. And using this, we implemented a smart elevator system that determines in real time whether there are people waiting. The proposed system can play the role of CCTV (closed-circuit television) while reducing unnecessary power consumption. Therefore, the proposed smart elevator system is expected to contribute to safety and security issues.

• International journal of advanced smart convergence
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• v.10 no.4
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• pp.110-116
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• 2021

This paper proposed a real-time earlobe detection system using deep learning on the web. Existing deep learning-based detection methods often find independent objects such as cars, mugs, cats, and people. We proposed a way to receive an image through the camera of the user device in a web environment and detect the earlobe on the server. First, we took a picture of the user's face with the user's device camera on the web so that the user's ears were visible. After that, we sent the photographed user's face to the server to find the earlobe. Based on the detected results, we printed an earring model on the user's earlobe on the web. We trained an existing YOLO v5 model using a dataset of about 200 that created a bounding box on the earlobe. We estimated the position of the earlobe through a trained deep learning model. Through this process, we proposed a real-time earlobe detection system on the web. The proposed method showed the performance of detecting earlobes in real-time and loading 3D models from the web in real-time.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.425-431
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• 2017

As drones gain more popularity these days, drone detection becomes more important part of the drone systems for safety, privacy, crime prevention and etc. However, existing drone detection systems are expensive and heavy so that they are only suitable for industrial or military purpose. This paper proposes a novel approach for training Convolutional Neural Networks to detect drones from images that can be used in embedded systems. Unlike previous works that consider the class probability of the image areas where the class object exists, the proposed approach takes account of all areas in the image for robust classification and object detection. Moreover, a novel loss function is proposed for the CNN to learn more effectively from limited amount of training data. The experimental results with various drone images show that the proposed approach performs efficiently in real drone detection scenarios.

• Journal of the Korea Society of Computer and Information
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• v.10 no.2 s.34
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• pp.59-68
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• 2005

Object tracking in a real time image is one of interesting subjects in computer vision and many practical application fields Past couple of years. But sometimes existing systems cannot find object by recognize background noise as object. This paper proposes a method of object detection and tracking using adaptive background image in real time. To detect object which does not influenced by illumination and remove noise in background image, this system generates adaptive background image by real time background image updating. This system detects object using the difference between background image and input image from camera. After setting up MBR(minimum bounding rectangle) using the internal point of detected otject, the system tracks otiect through this MBR. In addition, this paper evaluates the test result about performance of proposed method as compared with existing tracking algorithm.