제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제18권7호
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  • Pages.673-679
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  • 2012
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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칼만 필터와 가변적 탐색 윈도우 기법을 적용한 강인한 이동 물체 추적 알고리즘

Robust Tracking Algorithm for Moving Object using Kalman Filter and Variable Search Window Technique

  • 김영군 (서경대학교 전자공학과) ;
  • 현병용 (서경대학교 전자공학과) ;
  • 조영완 (서경대학교 컴퓨터공학과) ;
  • 서기성 (서경대학교 전자공학과)
  • 투고 : 2011.01.05
  • 심사 : 2012.05.25
  • 발행 : 2012.07.01
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초록

This paper introduces robust tracking algorithm for fast and erratic moving object. CAMSHIFT algorithm has less computation and efficient performance for object tracking. However, the method fails to track a object if it moves out of search window by fast velocity and/or large movement. The size of the search window in CAMSHIFT algorithm should be selected manually also. To solve these problems, we propose an efficient prediction technique for fast movement of object using Kalman Filter with automatic initial setting and variable configuration technique for search window. The proposed method is compared to the traditional CAMSHIFT algorithm for searching and tracking performance of objects on test image frames.

키워드

참고문헌

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피인용 문헌

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