• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.2
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• pp.16-22
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• 2010

This paper proposes the real-time moving object tracking system UAV using color information. Case of object tracking, it have studied to recognizing the moving object or moving multiple objects on the fixed camera. And it has recognized the object in the complex background environment. But, this paper implements the moving object tracking system using the pan/tilt function of the camera after the object's region extraction. To do this tracking system, firstly, it detects the moving object of RGB/HSI color model and obtains the object coordination in acquired image using the compact boundary box. Secondly, the camera origin coordination aligns to object's top&left coordination in compact boundary box. And it tracks the moving object using the pan/tilt function of camera. It is implemented by the Labview 8.6 and NI Vision Builder AI of National Instrument co. It shows the good performance of camera trace in laboratory environment.

• Journal of information and communication convergence engineering
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• v.6 no.3
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• pp.331-336
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. To achieve this goal, we present a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers has been also presented. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.349-359
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• 1998

A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• Journal of Biomedical Engineering Research
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• v.32 no.2
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• pp.118-126
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• 2011

This study proposes a human body orientation tracking system by inertial and earth magnetic sensors. These sensors were fused by indirect Kalman filter. The proposed tracking system was configured and the filter was implemented. The tracking performance was evaluated with static and dynamic tests. In static test, the sensor was fixed on the floor while its static characteristics was analyzed. In dynamic test, the sensor was held and moved manually for 30 seconds. The dynamic test included x, y, z axis rotations, and elbow flection/extension motions that mimic drinking. For these dynamic motions, the tracking angle error was under $4.1^{\circ}$ on average. The proposed tracking method is expected to be useful for various human body motion analysis.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.2 s.25
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• pp.77-86
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• 2006

Usually, a tracking-gate of the tracker is used to track the target radar signal in the active ECM system. In this paper, we propose the feed-back tracking-gate filtering method. The designed method applies a tracking-gate of the tacker to the ECM system's receiver as a rejection or pass filter selected by the receiver's purpose, and the specific target signals can be passed or rejected though this tracking-gate filter. Thus, the number of input signals within the receiver's search band is minimized owing to this filter except the target signals. In conclusion, the EW equipment's reaction time can be reduced and the error value about the target signals can be lower than the previous methods'.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.3
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• pp.163-169
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. To achieve this goal, we propose a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers have been also presented. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• Journal of Information Technology Applications and Management
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• v.13 no.3
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• pp.59-74
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• 2006

According to developing Wireless Communication, not only a location based service at the outside but also a location based service at the inside was more increased socially. This paper proposes the efficient algorithm to locate a transfer object in frequent change of indoor environment using indoor location tracking system we develop ourself. Proposing algorithm in this paper can locate a transfer object using the Fingerprint, one of the Location Tracking techniques which are used in general to minimize error data between Location Tracking System and Fingerprint, using this way that corrects location data as KF apply to result data can improve accuracy of a transfer object. At last we are going to compare and analyze existing typical triangulation with proposed Indoor location tracking system to demonstrate algorithm efficiency for proposed Indoor location tracking system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.775-778
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• 1996

In this research, the robustness of a seam tracking for the automatic welding system is studied. The laser displacement sensor is used as a seam finder. X-Y moving table drived by ac servo motor controls the position and velocity of the torch-and-sensor part. However, dc servo motor is used to control the position and velocity of the torch. The sensor locates ahead of torch to preview the weld line, and brings about the inaccuracy on the torch tracking. To enhance the robustness on this system against the influence of disturbances and model uncertainty, H$\_$.inf./ control is applied to the angular motion of torch. The simulation shows that the tracking accuracy improved significantly. Also, experimental results give a good performance of H$\_$.inf./ control strategy to the automatic seam tracking system for the welding.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.1
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• pp.43-52
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• 2014

This paper presents a tracking system using images captured from a camera on a moving platform. A camera on an unmanned flying vehicle generally moves and shakes due to external factors such as wind and the ego-motion of the machine itself. This makes it difficult to track a target properly, and sometimes the target cannot be kept in view of the camera. To deal with this problem, we propose a new system for stable tracking of a target under such conditions. The tracking system includes target tracking and 3-axis camera motion compensation. At the same time, we consider the simulation of the motion of flying vehicles for efficient and safe testing. With 3-axis motion compensation, our experimental results show that robustness and stability are improved.