• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.810-815
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• 2013

In case Wi-Fi network based First responder's position tracking system is used, range measurement must be generated from RSSI finger print database. However, it is impossible to build up finger print database and to perform rescue operation at same time in the scene of rescue. In this paper, improvised Wi-Fi network without finger print database and pedestrian dead reckoning based first responders tracking system is proposed.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.21-28
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• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.1
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• pp.46-51
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• 2005

Intelligent Space(ISpace) is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.64 no.3
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• pp.193-198
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• 2015

A large number of vision applications rely on matching keypoints across images. Pedestrian detection is under constant pressure to increase both its quality and speed. Such progress allows for new application. A higher speed enables its inclusion into large systems with extensive subsequent processing, and its deployment in computationally constrained scenarios. In this paper, we focus on improving the speed of pedestrian detection using HOG(histogram of oriented gradient) and multi frame operation which is robust to illumination changes in cluttering images. The result of our simulation indicates that the detection rate and speed of the proposed method is much faster than that of conventional HOG and differential images.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.113-119
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• 2012

In this paper we propose the method that detects moving objects in autonomous navigation vehicle using LRF sensor data. Object detection and tracking methods are widely used in research area like safe-driving, safe-navigation of the autonomous vehicle. The proposed method consists of three steps: data segmentation, mobility classification and object tracking. In order to make the raw LRF sensor data to be useful, Occupancy grid is generated and the raw data is segmented according to its appearance. For classifying whether the object is moving or static, trajectory patterns are analysed. As the last step, Markov chain Monte Carlo (MCMC) method is used for tracking the object. Experimental results indicate that the proposed method can accurately detect moving objects.

• Journal of the Semiconductor & Display Technology
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• v.22 no.2
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• pp.112-119
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• 2023

In urban environments, signals of Global Positioning System (GPS) can be blocked and reflected by tall buildings, large vehicles, and complex components of road network. Therefore, the performance of the positioning system using the GPS module in urban areas can be degraded due to the loss of GPS signals necessary for the position estimation. To deal with this issue, various localization schemes using inertial measurement unit (IMU) sensors, such as gyroscope and accelerometer, and Bayesian filters, such as Kalman filter (KF) and particle filter (PF), have been designed to enhance the performance of the GPS-based positioning system. Among Bayesian filters, the PF has been widely used for the target tracking and vehicle navigation, since it can provide superior performance in estimating the state of a dynamic system under nonlinear/non-Gaussian circumstance. This paper presents a positioning system that uses the double-stacked particle filter (DSPF) as well as the accelerometer, gyroscope, and GPS receiver on the smartphone to provide higher pedestrian positioning accuracy in urban environments. The DSPF employs a nonparametric technique (Parzen-window) to create the multimodal target distribution that approximates the posterior distribution. Experimental results show that the DSPF-based positioning system can provide the significant improvement of the pedestrian position estimation in urban environments.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.2
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• pp.84-93
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• 2011

In order to provide the real time and proper information to the pedestrian who is using the transport connection and transfer center through data collecting and processing process, the design of the test-bed (Gimpo airport)'s communication construction and the technology of the pedestrian location tracking has been researched. The design of the communication construction should make sure that it can provide believable data to the user of the transfer center. At the same time, the location tracking should also be considered, so that the require of the communication efficiency and the location tracking efficiency can be met together. In order to make the efficient location tracking technology, the problems related to the commercial technology based real time location identification will be resolved and the new approach method was proposed and be applied and analysed to the test-bed. The wireless access points can be located in the most real-world situation which has added the characteristics of the real building to the electronic map, and through the analysis of theirs location, they can be set as the mainly necessary points for the communication construction design and the location tracking and the method to locate that points has been proposed. How to set, how to apply it to the test-bed and the examination result will be introduced in this paper.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.12
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• pp.150-157
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• 2015

Pedestrian detection has largely been researched as one of the important technologies for autonomous driving vehicle and preventing accidents. There are two categories for pedestrian detection, camera-based and LIDAR-based. LIDAR-based methods have the advantage of the wide angle of view and insensitivity of illuminance change while camera-based methods have not. However, there are several problems with 3D LIDAR, such as insufficient resolution to detect distant pedestrians and decrease in detection rate in a complex situation due to segmentation error and occlusion. In this paper, two methods using GM-PHD filter are proposed to improve the poor rates of pedestrian detection algorithms based on 3D LIDAR. First one improves detection performance and resolution of object by automatic accumulation of points in previous frames onto current objects. Second one additionally enhances the detection results by applying the GM-PHD filter which is modified in order to handle the poor situation to classified multi target. A quantitative evaluation with autonomously acquired road environment data shows the proposed methods highly increase the performance of existing pedestrian detection algorithms.

• Proceedings of the Korean Society of Computer Information Conference
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• 2015.07a
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• pp.258-261
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• 2015

본 논문에서는 주행 중에 보행자의 인식 및 추적을 위해서 차량에서 촬영된 영상정보를 이용하여 주변의 보행자를 찾고, 사고 위험성이 있는 보행자를 인식하기 위해서 보행자 파악 및 보행자와의 거리를 측정하기 위한 연구를 하고자 한다. 본 논문에서는 차량에 정착된 카메라를 통한 보행자 인식 기술에 대해 연구 하였다. 제안한 방법은 보행자 인식 단계에서 Cascasde HOG, Haar-like 알고리즘을 적용하였고, 추적 단계에서 칼만 필터와 클러스터링 기법을 결합하여 실시간으로 보행자를 인식 및 추적하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.1
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• pp.169-174
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• 2018

There are many CCTV cameras connected to the video surveillance and monitoring center for the safety of citizens, and it is difficult for a few monitoring agents to monitor many channels of videos. In this paper, we propose an intelligent video surveillance system utilizing a safety map to efficiently monitor many channels of CCTV camera videos. The safety map establishes the frequency of crime occurrence as a database, expresses the degree of crime risk and makes it possible for agents of the video surveillance center to pay attention when a woman enters the crime risk area. The proposed gender classification method is processed in the order of pedestrian detection, tracking and classification with deep training. The pedestrian detection and tracking uses Adaboost algorithm and probabilistic data association filter, respectively. In order to classify the gender of the pedestrian, relatively simple AlexNet is applied to determine gender. Experimental results show that the proposed gender classification method is more effective than the conventional algorithm. In addition, the results of implementation of intelligent video security system combined with safety map are introduced.