• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.153-156
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• 2003

This short paper suggests a control strategy using a stepwise fuzzy moving sliding surface. The moving surface is a Sugeno-type fuzzy system that has the angle of state error vector and the distance from the origin in the phase plane as inputs and a first-order linear differential equation as an output. The surface initially passes arbitrary initial states and subsequently moves towards a predetermined surface via rotating or shifting. the proposed method reduces the reaching and tracking time and improves robustness. The asymptotic stability of the fuzzy sliding surface is proved. The validity of the proposed control scheme is shown in computer simulation for a second-order nonlinear system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.9
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• pp.3196-3210
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• 2014

This paper presents a novel video metrology approach based on robust tracking. From videos acquired by an uncalibrated stationary camera, the foreground likelihood map is obtained by using the Codebook background modeling algorithm, and the multiple moving objects are tracked by a combined tracking algorithm. Then, we compute vanishing line of the ground plane and the vertical vanishing point of the scene, and extract the head feature points and the feet feature points in each frame of video sequences. Finally, we apply a single view mensuration algorithm to each of the frames to obtain height measurements and fuse the multi-frame measurements using RANSAC algorithm. Compared with other popular methods, our proposed algorithm does not require calibrating the camera, and can track the multiple moving objects when occlusion occurs. Therefore, it reduces the complexity of calculation and improves the accuracy of measurement simultaneously. The experimental results demonstrate that our method is effective and robust to occlusion.

• Korean Journal of Optics and Photonics
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• v.20 no.3
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• pp.166-174
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• 2009

When the object distance of a zoom lens with finite object distances is varied, we can fix the image at a fixed image plane by moving only one zoom lens group (autofocus group) without moving all zoom lens groups for the autofocus. We theoretically formulated and numerically calculated the moving distances of the autofocus group by using Gaussian brackets and a paraxial ray tracing method. The solutions of this method can be consistently and flexibly used in the initial design for the moving distance of autofocus group within these zoom loci in all types of zoom lens. Finally, in order to verify the usefulness of this method, we show that the moving distance of an autofocus group can be rapidly and diversely obtained in one example of $M_{5n}$ zoom lens type.

• The KIPS Transactions:PartB
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• v.13B no.2 s.105
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• pp.187-196
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• 2006

In 3D animation most people adjust the moving motion of their characters on various terrains by using motion data acquired with the motion capture equipment. The motion data can be used to present real human motions naturally, but the data must be captured again to apply to the different terrains from those given at acquiring mode. In addition, there would be a difficulty when applying the data to other characters, in that case the motion data must be captured newly or the existing motion data must be heavily edited manually. In this paper we propose a unified method to generate human motions of walking and running for various terrains such as flat plane, inclined plane, stairway and irregular face. With these methods we are able to generate human motions controlled by the parameters : body height, moving speed, stride, etc. In the proposed methods, the positions and angles of joint can be calculated by using inverse kinematics, and we calculate the trajectory of the swing leg and pelvis according to the cubic spline. With these methods we were presented moving motions using a model of a human body.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.402-406
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• 1995

The shadow moire is one the optical techniques which able to give contour lines of an object with respect to a master grating plane. The moire patterns are issued from the superposition of a grating and its shadow projected on the surface of an object. But in the conventional shadow moire method the reference grating and deformed grating are mutually dependent, it is impossible to obtain uniform phase shifts on the whole field by moving the reference grating. Here we propose ane trial to apply phase shifting to conventional shadow moire. When, in the conventional arrangement, Phase-shifting that is sctually constant regardless of fringe orders is achieved by moving the grating and the light source. Finally we obtained a better result by using this procedure and applied the phase shifting shadow moire to three dimensional measurement.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.559-562
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• 2003

A motion-based background subtraction method without geometric computation is proposed, allowing that the camera is moving parallel to the ground plane with uniform velocity. The proposed method subtracts the background region from a given image by evaluating the difference between calculated and model Hows. This approach is insensitive to small errors of calculated optical flows. Furthermore, in order to tackle the significant errors, a strategy for incorporating a set of optical flows calculated over different frame intervals is presented. An experiment with two real image sequences, in which a static box or a moving toy car appears, to evaluate the performance in terms of accuracy under varying thresholds using a receiver operating characteristic (ROC) curve. The ROC curves show, in the best case, the figure-ground segmentation is done at 17.8 ％ in false positive fraction (FPF) and 71.3％ in true positive fraction (TPF) for the static-object scene and also at 14.8％ in FPF and 72.4％ In TPF for the moving-object scene, regardless if the calculated optical flows contain significant errors of calculation.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.650-657
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• 2012

An effective dual-mode camera system(a passive wide-angle camera and a pan-tilt-zoom camera) is proposed in order to improve the performance of visual surveillance. The fixed wide-angle camera is used to monitor large open areas, but the moving objects on the images are too small to view in detail. And, the PTZ camera is capable of increasing the monitoring area and enhancing the image quality by tracking and zooming in on a specific moving target. However, its FOV (Field of View) is limited when zooming in on a specific target. Therefore, the cooperation of wide-angle and PTZ cameras is complementary. In this paper, we propose an automatic initial set-up algorithm and coordinate transform method from the wide-angle camera coordinate to the PTZ one, which are necessary to achieve the cooperation. The automatic initial set-up algorithm is able to synchronize the views of two cameras. When a moving object appears on the image plane of a wide-angle camera after the initial set-up positioning, the obtained values of the wide-angle camera should be transformed to the PTZ values based on the coordinate transform method. We also develope the PTZ control method. Various in-door and out-door experiments show that the proposed dual-camera system is feasible for the effective visual surveillance.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.208-211
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• 2004

Landmark matching is one of an important algorithm for navigation of satellite images. This paper proposes a fast landmark matching algorithm using a MGLI (Moving Guide-Line Image). For searching the matched point between the landmark chip and a part of image, correlation matrix is used generally, but the full-sized correlation matrix has a drawback requiring plenty of time for matching point calculation. MGLI includes thick lines for fast calculation of correlation matrix. In the MGLI, width of the thick lines should be determined by satellite position changes and navigation error range. For the fast landmark matching, the MGLI provides guided line for a landmark chip we want to match, so that the proposed method should reduce candidate areas for correlation matrix calculation. This paper will show how much time is reduced in the proposed fast landmark matching algorithm compared to general ones.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.288-291
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• 2003

This paper presents an extended Twyman-Green interferometry that enables simultaneous and real-time measurement of 5-DOF motion errors of the translational moving stage. This method uses a null balancing technique in which two plane mirrors are used as target mirrors to generate an interferometric fringe utilizing the optical principles of Twyman-Green interferometry. Fringe is detected by 2D photodiode array for high-speed measurement. Errors are then independently suppressed by activation of piezoelectric actuators through real-time feedback control while the machine axis is moving. Experimental results demonstrate that a machine axis can be controlled with motion errors about 10 nm in linear displacement, 0.15 arcsec in angular displacement