• 전기학회논문지
• /
• 제56권10호
• /
• pp.1826-1835
• /
• 2007

In this paper, we present a new approach for automatic detection and tracking for multiple targets. We combine a highest probability data association(HPDA) algorithm for target detection with a particle filter for multiple target tracking. The proposed approach evaluates the probabilities of one-to-one assignments of measurement-to-track and the measurement with the highest probability is selected to be target- originated, and the measurement is used for probabilistic weight update of particle filtering. The performance of the proposed algorithm for target tracking in clutter is compared with the existing clustering algorithm and the sequential monte carlo method for probability hypothesis density(SMC PHD) algorithm for multi-target detection and tracking. Computer simulation studies demonstrate that the HPDA algorithm is robust in performing automatic detection and tracking for multiple targets even though the environment is hostile in terms of high clutter density and low target detection probability.

• Journal of Information Processing Systems
• /
• 제15권2호
• /
• pp.344-358
• /
• 2019

Surveillance cameras have installed in many places because security and safety is becoming important in modern society. Through surveillance cameras installed, we can deal with troubles and prevent accidents. However, watching surveillance videos and judging the accidental situations is very labor-intensive. So now, the need for research to analyze surveillance videos is growing. This study proposes an algorithm to track multiple persons using SURF and background subtraction. While the SURF algorithm, as a person-tracking algorithm, is robust to scaling, rotating and different viewpoints, SURF makes tracking errors with sudden changes in videos. To resolve such tracking errors, we combined SURF with a background subtraction algorithm and showed that the proposed approach increased the tracking accuracy. In addition, the background subtraction algorithm can detect persons in videos, and SURF can initialize tracking targets with these detected persons, and thus the proposed algorithm can automatically detect the enter/exit of persons.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1998년도 추계종합학술대회 논문집
• /
• pp.417-420
• /
• 1998

A heuristic sweeping algorithm for an autonomous smearing robot which executes the area filling task is proposed. This algorithm searches tracking points with the obstacle andenvironment wall while the robot tracking whole workspace, and finds sequential tracking line by sequentally connecting the tracking points in such a way that (1) the line should be never crossed, (2) the total tracking points should be is linked as short as possible, and (3) the tracking link should be cross over the obstacle in the work-space. If the line pass through the obstacle, hierarchical collision free algorithm proposed is implied. The proposed algorithm consists of (1) collision detection procedure, (2) obstacle map making procedures, (3) tracking points generation procedures for subgosls, (4) tracking points scanning procedures, and (5) obstacle avoidance procedure.

• ETRI Journal
• /
• 제45권3호
• /
• pp.394-403
• /
• 2023

Direct tracking problem of moving noncircular sources for multiple arrays is investigated in this study. Here, we propose an improved unscented particle filter (I-UPF) direct tracking method, which combines system proportional symmetry unscented particle filter and Markov Chain Monte Carlo (MCMC) algorithm. Noncircular sources can extend the dimension of sources matrix, and the direct tracking accuracy is improved. This method uses multiple arrays to receive sources. Firstly, set up a direct tracking model through consecutive time and Doppler information. Subsequently, based on the improved unscented particle filter algorithm, the proposed tracking model is to improve the direct tracking accuracy and reduce computational complexity. Simulation results show that the proposed improved unscented particle filter algorithm for noncircular sources has enhanced tracking accuracy than Markov Chain Monte Carlo unscented particle filter algorithm, Markov Chain Monte Carlo extended Kalman particle filter, and two-step tracking method.

• 한국항행학회논문지
• /
• 제23권1호
• /
• pp.77-83
• /
• 2019

본 논문에서는 컬러 히스토그램과 CNN 모델을 이용한 객체 추적 기법 알고리즘을 제안한다. CNN (convolutional neural network) 모델기반 객체 추적 알고리즘인 GOTURN (generic object tracking using regression network)의 정확도를 높이기 위해 컬러 히스토그램 기반 mean-shift 추적 알고리즘을 합성하였다. 두 알고리즘을 SVM (support vector machine)을 통해 분류하여 추적 정확도가 더 높은 알고리즘을 선택하도록 설계하였다. Mean-shift 추적 알고리즘은 객체 추적에 실패할 때 경계 박스가 큰 범위로 움직이는 경향이 있어 경계 박스의 이동거리에 제한을 두어 정확도를 향상시켰다. 또한 영상 평균 밝기, 히스토그램 유사도를 고려하여 두 알고리즘의 추적 시작 위치를 초기화하여 성능을 높였다. 결과적으로 기존 GOTURN 알고리즘보다 본 논문에서 제안한 알고리즘이 전체적으로 정확도가 1.6% 향상되었다.

• Journal of Electrical Engineering and Technology
• /
• 제12권5호
• /
• pp.2067-2078
• /
• 2017

In this paper, a new face tracking algorithm is proposed. The CamShift (Continuously adaptive mean SHIFT) algorithm shows unstable tracking when there exist objects with similar color to that of face in the background. This drawback of the CamShift is resolved by the proposed algorithm using Kinect's pixel-by-pixel depth information and the skin detection method to extract candidate skin regions in HSV color space. Additionally, even when the target face is disappeared, or occluded, the proposed algorithm makes it robust to this occlusion by the feature point matching. Through experimental results, it is shown that the proposed algorithm is superior in tracking performance to that of existing TLD (Tracking-Learning-Detection) algorithm, and offers faster processing speed. Also, it overcomes all the existing shortfalls of CamShift with almost comparable processing time.

• 전자공학회논문지A
• /
• 제29A권2호
• /
• pp.47-54
• /
• 1992

In this paper, a new extended JPDA (Joint Probabilistic Data Association) tracking algorithm which has more excellent performance than that of the conventional JPDA algorithm in case of the tracking of crossing targets is proposed. In the proposed extended JPDA algorithm, the velocity parameters as well as the position parameters are included to compute the association probabilities between tracks and measurement data. Then the tracking performance of crossing targets is improved and the track bias of parallel moving targets can be reduced. Accordingly, in this paper, the new extended JPDA algorithm for multitarget tracking is proposed and its good performance is shown through the computer simulation. And, tracking performance of extended JPDA algorithm is also compared with that of JPDA algorithm with our noise model.

• 반도체디스플레이기술학회지
• /
• 제18권1호
• /
• pp.53-58
• /
• 2019

Since floating facility with mooring system can be moved and rotated by wind or other environmental variables, the error in azimuthal angle must be compensated using a GPS receiver and geo-magnetic sensor. Accordingly, when an existing photovoltaic tracking algorithm is applied to a floating photovoltaic system, it is difficult to do the optimal solar tracking. In this paper, an effective azimuthal angle algorithm is develop for the photovoltaic tracking in floating condition. In order to verify the developed algorithm, the prototype of the floating photovoltaic system is manufactured and the developed algorithm is applied to the system. The algorithm shows a good tracking feasibility on the prototype.

• The Journal of the Acoustical Society of Korea
• /
• 제22권1E호
• /
• pp.19-25
• /
• 2003

Ryu et al. recently proposed a multiple target angle-tracking algorithm without a data association problem. This algorithm, however, shows the degraded performance on evasive maneuvering targets, because the estimated signal subspace is d,:graded in the algorithm. In this Paper, we proposed a new algorithm, in which VFF-PASTd (Variable Forgetting Factor PASTd) algorithm is applied to Ryu's algorithm to effectively handle the evasive target tracking with better time-varying signal subspace.

• 방송공학회논문지
• /
• 제21권6호
• /
• pp.861-877
• /
• 2016

본 논문에서는 실시간 얼굴 추적을 위하여 기존의 CamShift 알고리즘의 단점을 보완한 새로운 CamShift 알고리즘을 제안한다. 배경 내 추적 객체와 색상이 유사한 객체가 존재할 경우 기존 CamShift 알고리즘은 불안정한 추적을 보여준다. 이러한 문제점을 화소 단위로 거리정보를 획득할 수 있는 Kinect의 깊이 정보와 HSV 색공간 기반의 피부색 후보영역을 추출하는 Skin Detection 알고리즘을 이용하여 색상분포만 이용하는 기존의 CamShift의 단점을 보완한다. 또한 추적하던 객체가 사라지거나 가려짐이 발생할 경우에도 다시 추적할 수 있는 특징점 기반의 매칭 알고리즘을 통하여 차폐영역에 강인한 특성을 가지게 한다. 이러한 향상된 CamShift 알고리즘을 사람의 얼굴 추적에 적용함으로써 다양한 분야에 활용 가능한 강인한 얼굴추적 알고리즘을 제안하고자 한다. 실험결과 제안하는 알고리즘은 기존의 추적 알고리즘인 TLD보다 월등히 빠른 처리속도와 더 우수한 추적성능을 보여주었고, CamShift 보다 조금 느리지만 기존의 CamShift가 가지고 있는 문제점들을 해결하였다.