• Annual Conference of KIPS
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• 2002.11a
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• pp.669-672
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• 2002

최근 멀티미디어 기술의 급속한 발달로 인해 개인의 신원 확인, 보안 시스템 등의 영역에서 얼굴과 관련된 연구가 활발히 진행 되고 있다. 기존의 연구에서는 원거리 추적이 어려우며, 연산시간, 잡음(noise), 배경과 조명등에 따라 추적 효율이 낮은 단점을 가지고 있다. 본 논문에서는 빠르고 정확한 얼굴 추적을 위한 차 영상 기법(differential image method)을 이용한 분할영역(segmentation region)에서 움직임(motion)과 피부색(skin color) 특성 기반의 객체분할추적(Tracking Of Object segmentation) 방법을 이용하였다. 객체분할추적은 얼굴을 하나의 객체(object)로 인식하고 제안한 방법으로 얼굴 부분만 분할하는 단계와 얼굴특징추출 단계를 적용하여 피부색 기반의 연구에서 나타난 입력영상(Current Frame)에서의 유동적인 피부색의 노출 대한 얼굴 추적 연구의 문제점을 해결했다. 시스템은 현재 컴퓨터에 일반적으로 사용되는 카메라를 이용하여 구현 하였고, 실시간(real-time) 영상에서 비교적 성공적인 얼굴 추적을 하였다[4].

• Journal of Korea Multimedia Society
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• v.21 no.1
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• pp.51-60
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• 2018

We present a real-time interactive particle-art with human motion based on computer vision techniques. We used computer vision techniques to reduce the number of equipments that required for media art appreciations. We analyze pros and cons of various computer vision methods that can adapted to interactive digital media art. In our system, background subtraction is applied to search an audience. The audience image is changed into particles with grid cells. Optical flow is used to detect the motion of the audience and create particle effects. Also we define a virtual button for interaction. This paper introduces a series of computer vision modules to build the interactive digital media art contents which can be easily configurated with a camera sensor.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.615-618
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• 1999

In this paper, a object detection and tracking algorithm is presented which exhibits robust properties for image sequences with complex background. The proposed algorithm is composed of three parts: moving object detection, object tracking, and motion analysis. The moving object detection algorithm is implemented using a temporal median background method which is suitable for real-time applications. In the motion analysis, we propose a new technique for removing a temporal clutter, such as a swaying plant or a light reflection of a background object. In addition, we design a multiple vehicle tracking system based on Kalman filtering. Computer simulation of the proposed scheme shows its robustness for MPEG-7 test image sequences.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.729-732
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• 2014

본 논문에서는 실시간 영상에서 움직임 검출 및 추적에 관련한 기본 기술들을 나열하고 구현하여 구현 가능성 및 성능에 대하여 검증을 진행하였다. 움직임 검출에는 배경 차영상 기법에 의한 움직임 및 변화 영역 검출 방법과 움직임 히스토리에 의한 움직임 검출법, 광류에 의한 움직임 검출법이 있으며 이를 구현하여 검증하였다. 또한 움직임 추적의 경우에는 추적하려는 물체의 히스토그램의 역투영을 이용하면서 물체의 중심점을 추적하는 MeanShift와 물체의 중심, 크기, 방향을 함께 추적하는 CamShift가 있고 Kalman 필터에 의한 움직임 추적을 구현하여 검증하였다. 구현된 방법을 통하여 보안용의 영상감시 장비의 추적 시스템 및 GPS 좌표를 기반으로하여 비행체를 추적하면서 통신링크를 유지하는 추적안테나 시스템에 적용하므로서 제어의 정확도를 높일 수 있다.

• ICROS
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• v.2 no.3
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• pp.81-91
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• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• Journal of Korea Multimedia Society
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• v.6 no.3
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• pp.409-418
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• 2003

Object tracking in video is one of subject that computer vision and several practical application field have interest in several years. This paper proposes real time object tracking and face region extraction method that can be applied to security and supervisory system field. For this, in limited environment that camera is fixed and there is seldom change of background image, proposed method detects position of object and traces motion using difference between input image and background image. The system creates adaptive background image and extracts pixels in object using line scan method for more stable object extraction. The real time object tracking is possible through establishment of MBR(Minimum Bounding Rectangle) using extracted pixels. Also, effectiveness for security and supervisory system is improved due to extract face region in established MBR. And through an experiment, the system shows fast real time object tracking under limited environment.

• Journal of Broadcast Engineering
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• v.7 no.2
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• pp.181-191
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• 2002

Video based surveillance systems based on an active camera require a fast algorithm for real time detection and tracking of local motion in the presence of global motion. This paper presents a new fast and efficient motion detection and tracking algorithm using the displaced frame difference (DFD). In the Proposed algorithm, first, a Previous frame is adaptively selected according to the magnitude of object motion, and the global motion is estimated by using only a few confident matching blocks for a fast and accurate result. Then, a DFD is obtained between the current frame and the selected previous frame displaced by the global motion. Finally, a moving object is extracted from the noisy DFD by utilizing the correlation between the DFD and current frame. We implement this algorithm into an active camera system including a pan-tilt unit and a standard PC equipped with an AMD 800MHz processor. The system can perform the exhaustive search for a search range of 120, and achieve the processing speed of about 50 frames/sec for video sequences of 320$\times$240. Thereby, it provides satisfactory tracking results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.1
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• pp.47-59
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• 2014

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.77-84
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• 2005

In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.6
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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.