• Journal of KIISE:Computing Practices and Letters
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• v.16 no.6
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• pp.654-662
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• 2010

In this paper, we suggest an advanced algorithm, to recognize pedestrian/non-pedestrian using second-stage cascade method, which applies Adaboost algorithm to make a strong classification from weak classifications. First, we extract two feature vectors: (i) Histogram of Oriented Gradient (HOG) which includes gradient information and differential magnitude; (ii) Curvature-HOG which is based on four different curvature features per pixel. And then, a strong classification needs to be obtained from weak classifications for composite recognition method using both HOG and curvature-HOG. In the proposed method, we use one feature vector and one strong classification for the first stage of recognition. For the recognition-failed image, the other feature and strong classification will be used for the second stage of recognition. Based on our experiment, the proposed algorithm shows higher recognition rate compared to the traditional method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.609-617
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• 2016

In general, Personal Navigation Systems (PNSs) can be defined systems to acquire pedestrian positional information. GPS is an example of PNS. However, GPS can only be used where the GPS signal can be received. Pedestrian Dead Reckoning (PDR) can estimate the positional information of pedestrians using Inertial Measurement Unit (IMU). Therefore, PDR can be used for GPS-disabled areas. This paper proposes a PDR scheme considering various movement types over GPS-disabled areas as combat environments. We propose a movement distance estimation scheme and movement direction estimation scheme as pedestrian's various movement types such as walking, running and crawling using IMU. Also, we propose a fusion algorithm between GPS and PDR to mitigate the lack of accuracy of positional information at the entrance to the building. The proposed algorithm has been tested in a real test bed. In the experimental results, the proposed algorithms exhibited an average position error distance of 5.64m and position error rate in goal point of 3.41% as a pedestrian traveled 0.6km.

• Proceedings of the Korean Information Science Society Conference
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• 2006.06b
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• pp.349-351
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• 2006

동영상 내에서 이동하는 객체를 추적하기 위해서는 우수한 객체 검출 방법이 필요하다. 이를 위하여, 본 논문에서는 연속된 영상에서의 인접한 프레임들을 이용하여 객체의 형태를 검출하고자 한다. 인접한 프레임들의 합성과 차를 이용하여 움직이는 객체의 대략적인 형태를 알아내고, 대략적인 형태를 이진화시킨 영상과 현재 프레임의 에지 영상과의 AND 연산을 통하여 객체의 형태를 알아 낼 수 있다. 그리고, 이 과정에서 생성되는 노이즈를 채움 연산과 영역화 연산을 통하여 제거할 수 있으며, 얻어진 객체의 크기 비율을 고려한 수직 투영을 통하여 다중 객체를 잘 분리해 낼 수 있었다.

• Journal of the HCI Society of Korea
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• v.14 no.2
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• pp.41-47
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• 2019

In this study, a smart assistive device is designed to recognize pedestrian signal and to provide audio instructions for visually impaired people in crossing streets safely. Walking alone is one of the biggest challenges to the visually impaired and it deteriorates their life quality. The proposed device has a camera attached on a pair of glasses which can detect traffic lights, recognize pedestrian signals in real-time using a machine learning algorithm on GPU board and provide audio instructions to the user. For the portability, the dimension of the device is designed to be compact and light but with sufficient battery life. The embedded processor of device is wired to the small camera which is attached on a pair of glasses. Also, on inner part of the leg of the glasses, a bone-conduction speaker is installed which can give audio instructions without blocking external sounds for safety reason. The performance of the proposed device was validated with experiments and it showed 87.0% recall and 100% precision for detecting pedestrian green light, and 94.4% recall and 97.1% precision for detecting pedestrian red light.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.55-68
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• 2014

Some infrastructure these days is usually constructed under the ground for it to not interfere the foot-traffic of pedestrians, and thus, it is difficult to visually confirm the accurate location of the site where the establishments must be buried. These technical difficulties increase the magnitude of the problems that could arise from over-reliance on the experience of the worker or a mere blueprint. Such problems include exposure to flood and collapse. This paper proposes a constructor-oriented visualization system via mobile gadgets in general construction sites with occluded structures. This proposal is consisted with three stages. First, "Stage of detecting manhole and extracting features" detects and extracts the basis point of occluded structures which is unoccluded manhole. Next, "Stage of tracking features" tracks down the extracted features in the previous stage. Lastly, "Stage of visualizing occluded constructions" analyzes and synthesizes the GPS data and 3D objects obtained from mobile gadgets in the previous stages. This proposal implemented ideal method through parallel analysis of manhole detection, feature extraction, and tracking techniques in indoor environment, and confirmed the possibility through occluded water-pipe augmentation in real environment. Also, it offers a practical constructor-oriented environment derived from the augmented 3D results of occluded water-pipings.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.10
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• pp.190-196
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• 2014

This paper proposes a mobile-optimized pedestrian detection method using Cascade of HOG(Histograms of Oriented Gradients) for ADAS(Advanced Driver Assistance System) on smartphones. In order to use the limited resource of mobile platforms efficiently, the method is implemented by the OpenCL(Open Computing Language) library, and its processing time is reduced in the following two aspects. Firstly, the method sets a program build option specifically and adjusts work group sizes as variety of kernels in the host code. Secondly, it utilizes local memory and a LUT(Look-Up Table) in the kernel code to accelerate the program. For performance evaluation, the developed algorithm is compared with the mobile CPU-based OpenCV(Open Computer Vision) for Android function. The experimental results show that the processing speed is 25% faster than the OpenCV hogcascade.

• Journal of Broadcast Engineering
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• v.21 no.4
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• pp.493-505
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• 2016

Among modern computer vision and video surveillance systems, the pedestrian counting system is a one of important systems in terms of security, scheduling and advertising. In the field of, pedestrian counting remains a variety of challenges such as changes in illumination, partial occlusion, overlap and people detection. During pedestrian counting process, the biggest problem is occlusion effect in crowded environment. Occlusion and overlap must be resolved for accurate people counting. In this paper, we propose a novel pedestrian counting system which improves existing pedestrian tracking method. Unlike existing pedestrian tracking method, proposed method shows that average filter tracking method can improve tracking performance. Also proposed method improves tracking performance through frame compensation and outlier removal. At the same time, we keep various information of tracking objects. The proposed method improves counting accuracy and reduces error rate about S6 dataset and S7 dataset. Also our system provides real time detection at the rate of 80 fps.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.476-477
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• 2008

본 연구에서는 가속도 센서를 이용하여 보행패턴을 검출하고 가속도 센서의 출력 값을 무선으로 PC에 실시간으로 전달할 수 있는 휴대용 모듈을 개발하였다. PC에서는 휴대장치로부터 전송되는 데이터를 수집하여 운동패턴을 화면에 실시간으로 출력할 수 있게 하였다. 휴대 장치의 전력 소모를 최대한 줄이기 위해 무선 전송 부분은 zigbee 통신을 사용하였다. 착용자의 걸음걸이 패턴을 분석하기 위해 2축 가속도 센서를 사용하였으며 기본적인 보행수는 임계치를 사용하는 moving average 알고리즘을 이용하여 마이크로 콘트롤러에서 처리하였다.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.177-185
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• 2014

In this study, the exoskeleton orthosis for the assistance of dorsiflexion torque in ankle joint to prevent foot-drop was developed. It was consist of three part; 1) the power part using artificial pneumatic actuator, 2) wearing part of ankle and knee joints to fix the orthosis, and 3) control part to detect the gait phase using physiological signal. The dorsiflexion torque was generated by the artificial pneumatic actuator connected with wearing part between ankle and knee joint. The accurate timing to assist dorsiflexion torque is made up of physiological signal in foot sole part that detect the gait phase, that is, stance and swing phase in each foot. We conduct the experiment to investigate the effect of exoskeleton orthosis to the 7 elderly people and 10 healthy people. The result showed that the muscular activities in tibialis anterior muscle were reduced because of the assistance of dorsiflexion torque in ankle joint using the exoskeleton orthosis.

• Journal of IKEEE
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• v.26 no.2
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• pp.249-256
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• 2022

The prosthetic leg is a device that performs walking instead of a amputated lower limb, and require a change in locomotion mode by providing the user's intention to respond to a discontinuous locomotion environment. Research has been conducted to detect the users' intentions through biomechanical features inside the socket that directly contacts the cut site in demand for natural locomotion mode changes without external control equipment. However, there is still a need for a sensor system that is suitable for the internal environment of the main body and socket of the cut site. Accordingly, this paper proposed a film-type sensor system that is suitable for the main body characteristics of the cut site, is not affected by the temperature and humidity conditions inside the socket, and is easy to manufacture in various sizes. The proposed sensor is manufactured base on Velostat film and takes into account the pressure measurement characteristics that vary with size. Through the experiment, the change in the internal pressure of the socket due to the intentional posture performance of the wearer was measured, and the possibility of detecting the intention to change the locomotion mode was confirmed.