• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.3
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• pp.694-701
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• 2004

In this paper, we proposed a feature-based tracking system that traces moving objects with a pan-tilt camera after separating the global motion of an active camera and the local motion of moving objects. The tracking system traces only the local motion of the comer features in the foreground objects by finding the block motions between two consecutive frames using a block-based motion estimation and eliminating the global motion from the block motions. For the robust estimation of the camera motion using only the background motion, we suggest a dominant motion extraction to classify the background motions from the block motions. We also propose an efficient clustering algorithm based on the attributes of motion trajectories of corner features to remove the motions of noise objects from the separated local motion. The proposed tracking system has demonstrated good performance for several test video sequences.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.530-533
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• 1995

This paper deals with the problem of motion planning for a unicycle-like robot. We present a simple local planner for unicycle model, based on an approximation of the desired configuration generated by local holonomic planner that ignores motion constraints. To guarantee a collision avoidance, we propose an inequality constraint, based on the motion analysis with the constant control input and time interval. Consequently, we formulate our problem as the constrained optimization problem and a feedback scheme based on local sensor information is established by simply solving this problem. Through simulations, we confirm the validity and effectiveness of our algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.3-37
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• 2002

$\textbullet$ Mobile robots $\textbullet$ Sensor-based motion planning $\textbullet$ Potential field $\textbullet$ Local minimum-free motion $\textbullet$ Virtual target point $\textbullet$ Set of linked line segments $\textbullet$ We build a sensor-based motion planning using virtual target point for free of local minimum

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.460-465
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• 2009

This paper presents a new algorithm that includes a mechanism to avoid local solutions in a motion vector detection method that uses the steepest descent method. Two different implementations of the algorithm are demonstrated using two major search methods for tree structures, depth first search and breadth first search. Furthermore, it is shown that by avoiding local solutions, both of these implementations are able to obtain smaller prediction errors compared to conventional motion vector detection methods using the steepest descent method, and are able to perform motion vector detection within an arbitrary upper limit on the number of computations. The effects that differences in the search order have on the effectiveness of avoiding local solutions are also presented.

• Structural Engineering and Mechanics
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• v.44 no.5
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• pp.663-680
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• 2012

Previous major earthquakes revealed that most damage of the buried segmented pipelines occurs at the joints of the pipelines. It has been proven that the differential motions between the pipe segments are one of the primary reasons that results in the damage (Zerva et al. 1986, O'Roueke and Liu 1999). This paper studies the combined influences of ground motion spatial variations and local soil conditions on the seismic responses of buried segmented pipelines. The heterogeneous soil deposits surrounding the pipelines are assumed resting on an elastic half-space (base rock). The spatially varying base rock motions are modelled by the filtered Tajimi-Kanai power spectral density function and an empirical coherency loss function. Local site amplification effect is derived based on the one-dimensional wave propagation theory by assuming the base rock motions consist of out-of-plane SH wave or combined in-plane P and SV waves propagating into the site with an assumed incident angle. The differential axial and lateral displacements between the pipeline segments are stochastically formulated in the frequency domain. The influences of ground motion spatial variations, local soil conditions, wave incident angle and stiffness of the joint are investigated in detail. Numerical results show that ground motion spatial variations and local soil conditions can significantly influence the differential displacements between the pipeline segments.

• Earthquakes and Structures
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• v.17 no.6
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• pp.557-566
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• 2019

The evaluation of the seismic hazard for a given site is to estimate the seismic ground motion at the surface. This is the result of the combination of the action of the seismic source, which generates seismic waves, the propagation of these waves between the source and the site, and site local conditions. The aim of this work is to evaluate the sensitivity of dynamic response of extended structures to spatial variable ground motions (SVGM). All factors of spatial variability of ground motion are considered, especially local site effect. In this paper, a method is presented to simulate spatially varying earthquake ground motions. The scheme for generating spatially varying ground motions is established for spatial locations on the ground surface with varying site conditions. In this proposed method, two steps are necessary. Firstly, the base rock motions are assumed to have the same intensity and are modelled with a filtered Tajimi-Kanai power spectral density function. An empirical coherency loss model is used to define spatial variable seismic ground motions at the base rock. In the second step, power spectral density function of ground motion on surface is derived by considering site amplification effect based on the one dimensional seismic wave propagation theory. Several dynamics analysis of a curved viaduct to various cases of spatially varying seismic ground motions are performed. For comparison, responses to uniform ground motion, to spatial ground motions without considering local site effect, to spatial ground motions with considering coherency loss, phase delay and local site effects are also calculated. The results showed that the generated seismic signals are strongly conditioned by the local site effect. In the same sense, the dynamic response of the viaduct is very sensitive of the variation of local geological conditions of the site. The effect of neglecting local site effect in dynamic analysis gives rise to a significant underestimation of the seismic demand of the structure.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• Journal of Broadcast Engineering
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• v.13 no.1
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• pp.128-136
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• 2008

In this paper, we propose a variable step search fast motion estimation algorithm using local statistics of neighboring motion vectors. Using the degree of correlation between neighboring motion vectors, motion search range is adaptively adjusted to reduce unnecessary search points. Based on the adjusted search range, motion vector is obtained by variable search step. Experimental results show that the proposed algorithm has the capability to dramatically reduce the search points and computing cost for motion estimation, comparing to fast full spiral search motion estimation and other fast motion estimation.

• Journal of IKEEE
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• v.19 no.2
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• pp.244-253
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• 2015

Please This paper presents method of video stabilization based on detection and adaptive motion smoothing filtering of undesirable motion. The proposed algorithm consists of two stages: the detection of undesirable motion and smoothing filtering of detected undesired motion. To incorporate desired properties into the motion smoothing process, the local maximum and the local minimum are defined in a set composed of the parameters of accumulative global motion. Using the local information, the constraints on detecting undesirable motions are defined. Based on these constraints, the alpha parameter of the alpha-trimmed means filter is adjusted, so that the degree of motion smoothing in the reconstructed video sequence is controlled. The experimental results demonstrated the capability of the proposed algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.617-623
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• 2008

This paper presents a human motion recognition method using both centroid shift and local basis images. The centroid shift based on 1st moment balance technique is applied to get the robust motion images against position or size changes, the extraction of local basis images based on independent component analysis(ICA) is also applied to find a set of statistically independent motion features, which is included in each motions. Especially, ICA of fixed-point(FP) algorithm based on Newton method is used for being quick to extract a local basis images of motions. The proposed method has been applied to the problem for recognizing the 160(1 person * 10 animals * 16 motions) sign language motion images of 240*215 pixels. The 3 distances such as city-block, Euclidean, negative angle are used as measures when match the probe images to the nearest gallery images. The experimental results show that the proposed method has a superior recognition performances(speed, rate) than the method using local eigen images and the method using local basis images without centroid shift respectively.