• Journal of Institute of Control, Robotics and Systems
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• 제21권11호
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• pp.989-995
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• 2015

Due to the recent increase of the importance and demand of security services, the importance of a surveillance monitor system that makes an automatic security system possible is increasing. As the market for surveillance monitor systems is growing, price competitiveness is becoming important. As a result of this trend, surveillance monitor systems based on an embedded system are widely used. In this paper, an object detection algorithm based on an embedded system for a surveillance monitor system is introduced. To apply the object detection algorithm to the embedded system, the most important issue is the efficient use of resources, such as memory and processors. Therefore, designing an appropriate algorithm considering the limit of resources is required. The proposed algorithm uses two background models; therefore, the embedded system is designed to have two independent processors. One processor checks the sub-background models for if there are any changes with high update frequency, and another processor makes the main background model, which is used for object detection. In this way, a background model will be made with images that have no objects to detect and improve the object detection performance. The object detection algorithm utilizes one-dimensional histogram distribution, which makes the detection faster. The proposed object detection algorithm works fast and accurately even in a low-priced embedded system.

• Journal of Institute of Control, Robotics and Systems
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• 제18권1호
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• pp.35-41
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• 2012

This paper proposes a moving object detection algorithm for active camera system that can be applied to mobile robot and intelligent surveillance system. Most of moving object detection algorithms based on a stationary camera system. These algorithms used fixed surveillance system that does not consider the motion of the background or robot tracking system that track pre-learned object. Unlike the stationary camera system, the active camera system has a problem that is difficult to extract the moving object due to the error occurred by the movement of camera. In order to overcome this problem, the motion of the camera was compensated by using SURF and Pseudo Perspective model, and then the moving object is extracted efficiently using stochastic Label Cluster transport model. This method is possible to detect moving object because that minimizes effect of the background movement. Our approach proves robust and effective in terms of moving object detection in active camera system.

• IEMEK Journal of Embedded Systems and Applications
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• 제17권2호
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• pp.77-83
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• 2022

In this paper, the two-stage object detection approach is proposed to implement a deep learning-based label inspection system on edge computing environments. Since the label printed on the products during the production process contains important information related to the product, it is significantly to check the label information is correct. The proposed system uses the lightweight deep learning model that able to employ in the low-performance edge computing devices, and the two-stage object detection approach is applied to compensate for the low accuracy relatively. The proposed Two-Stage object detection approach consists of two object detection networks, Label Area Detection Network and Character Detection Network. Label Area Detection Network finds the label area in the product image, and Character Detection Network detects the words in the label area. Using this approach, we can detect characters precise even with a lightweight deep learning models. The SF-YOLO model applied in the proposed system is the YOLO-based lightweight object detection network designed for edge computing devices. This model showed up to 2 times faster processing time and a considerable improvement in accuracy, compared to other YOLO-based lightweight models such as YOLOv3-tiny and YOLOv4-tiny. Also since the amount of computation is low, it can be easily applied in edge computing environments.

• Journal of the Institute of Electronics Engineers of Korea SP
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• 제46권6호
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• pp.88-94
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• 2009

This paper proposes real time object detection and tracking algorithm that can be applied to security and supervisory system field. A proposed system is devide into object detection phase and object tracking phase. In object detection, we suggest Adaptive background subtraction method and Adaptive block based model which are advanced motion detecting methods to detect exact object motions. In object tracking, we design a multiple vehicle tracking system based on Kalman filtering. As a result of experiment, motion of moving object can be estimated. the result of tracking multipul object was not lost and object was tracked correctly. Also, we obtained improved result from long range detection and tracking.

• Journal of Institute of Control, Robotics and Systems
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• 제21권8호
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• pp.766-772
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• 2015

This paper proposes an object detection method based on motion estimation using background subtraction in the fisheye images obtained through omni-directional camera mounted on the vehicle. Recently, most of the vehicles installed with rear camera as a standard option, as well as various camera systems for safety. However, differently from the conventional object detection using the image obtained from the camera, the embedded system installed in the vehicle is difficult to apply a complicated algorithm because of its inherent low processing performance. In general, the embedded system needs system-dependent algorithm because it has lower processing performance than the computer. In this paper, the location of object is estimated from the information of object's motion obtained by applying a background subtraction method which compares the previous frames with the current ones. The real-time detection performance of the proposed method for object detection is verified experimentally on embedded board by comparing the proposed algorithm with the object detection based on LKOF (Lucas-Kanade optical flow).

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권5호
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• pp.1400-1420
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• 2012

Object detection and tracking using visual sensors is a critical component of surveillance systems, which presents many challenges. This paper addresses the enhancement of object detection and tracking via the combination of multiple visual sensors. The enhancement method we introduce compensates for missed object detection based on the partial detection of objects by multiple visual sensors. When one detects an object or more visual sensors, the detected object's local positions transformed into a global object position. Local and global information exchange allows a missed local object's position to recover. However, the exchange of the information may degrade the detection and tracking performance by incorrectly recovering the local object position, which propagated by false object detection. Furthermore, local object positions corresponding to an identical object can transformed into nonequivalent global object positions because of detection uncertainty such as shadows or other artifacts. We improved the performance by preventing the propagation of false object detection. In addition, we present an evaluation method for the final global object position. The proposed method analyzed and evaluated using case studies.

• Journal of the Korean Society of Marine Environment & Safety
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• 제28권4호
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• pp.499-506
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• 2022

For autonomous ships to be commercialized and be able to navigate in coastal water, they must be able to detect maritime obstacles. One of the most common obstacles seen in coastal area are the farm buoys. In this study, a maritime object detection system was developed that detects buoys using the YOLO algorithm and visualizes the distance and bearing between buoys and the ship through geometric interpretation of camera images. After training the maritime object detection model with 1,224 pictures of buoys, the precision of the model was 89.0%, the recall was 95.0%, and the F1-score was 92.0%. Camera calibration had been conducted to calculate the distance and bearing of an object away from the camera using the obtained image coordinates and Experiment A and B were designed to verify the performance of the maritime object detection system. As a result of verifying the performance of the maritime object detection system, it can be seen that the maritime object detection system is superior to radar in its short-distance detection capability, so that it can be used as a navigational aid along with the radar.

• Journal of Multimedia Information System
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• 제4권4호
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• pp.285-288
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• 2017

In this paper, we propose a vision-based object detection and tracking system using online learning. The proposed system adopts a feature point-based method for tracking a series of inter-frame movement of a newly detected object, to estimate rapidly and toughness. At the same time, it trains the detector for the object being tracked online. Temporarily using the result of the failure detector to the object, it initializes the tracker back tracks to enable the robust tracking. In particular, it reduced the processing time by improving the method of updating the appearance models of the objects to increase the tracking performance of the system. Using a data set obtained in a variety of settings, we evaluate the performance of the proposed system in terms of processing time.

• The Transactions of the Korean Institute of Electrical Engineers P
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• 제67권4호
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• pp.227-232
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• 2018

In this paper, we propose a faster object detection and tracking method using Deep Learning, UAV(unmanned aerial vehicle), Kalman filter and YOLO(You Only Look Once)v3 algorithms. The performance of the object tracking system is decided by the performance and the accuracy of object detecting and tracking algorithms. So we applied to the YOLOv3 algorithm which is the best detection algorithm now at our proposed detecting system and also used the Kalman Filter algorithm that uses a variable detection area as the tracking system. In the experiment result, we could find the proposed system is an excellent result more than a fixed area detection system.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제11권5호
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• pp.125-135
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• 2012

This paper proposes the new object detection system with two laser-scanners and a camera for classifying the objects and predicting the location of objects on road street. This detection system could be applied the new C-ITS service such as ADAS(Advanced Driver Assist System) or (semi-)automatic vehicle guidance services using object's types and precise position. This study describes the some examples in other countries and feasibility of object detection system based on a camera and two laser-scanners. This study has developed the heterogenous sensor's fusion method and shows the results of implementation at road environments. As a results, object detection system at roadside infrastructure is a useful method that aims at reliable classification and positioning of road objects, such as a vehicle, a pedestrian, and obstacles in a street. The algorithm of this paper is performed at ideal condition, so it need to implement at various condition such as light brightness and weather condition. This paper should help better object detection and development of new methods at improved C-ITS environment.