• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.9
• /
• pp.773-777
• /
• 2016

In this paper, a novel multi-object tracking method to track an unknown number of objects is proposed. To handle multiple object states and uncertain observations efficiently, a probability hypothesis density (PHD) filter is adopted and modified. The PHD filter is capable of reducing false positives, managing object appearances and disappearances, and estimating the multiple object trajectories in a unified framework. Although the PHD filter is robust in cluttered environments, it is vulnerable to false negatives. For this reason, we propose to exploit local observations in an RFS of the observation model. Each local observation is generated by using an online trained object detector. The main purpose of the local observation is to deal with false negatives in the PHD filtering procedure. The experimental results demonstrated that the proposed method robustly tracked multiple objects under practical situations.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.9 s.174
• /
• pp.77-84
• /
• 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 KIISE:Software and Applications
• /
• v.31 no.6
• /
• pp.799-807
• /
• 2004

In this paper, we deal with an emotion recognition method using facial images and speech signal. Six basic human emotions including happiness, sadness, anger, surprise, fear and dislike are investigated. Emotion recognition using the facial expression is performed by using a multi-resolution analysis based on the discrete wavelet transform. And then, the feature vectors are extracted from the linear discriminant analysis method. On the other hand, the emotion recognition from speech signal method has a structure of performing the recognition algorithm independently for each wavelet subband and then the final recognition is obtained from a multi-decision making scheme.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1793-1794
• /
• 2006

네트워크 전력계측 장치는 전국의 수용가 측에 설치되며 전력품질을 감시할 수 있는 단말기와 표준화된 이더넷망(유무선)을 사용한 네트워크 환경과 전국의 전력품질 데이터를 수집할 수 있는 서버로 크게 구성된다. 본 논문에서는 128 샘플링으로 계측되는 전력품질계측 단말기를 구현하고 전력품질 분석 알고리즘을 고안하였으며 이더넷망을 이용하여 전력품질 데이터를 수집하고 수집데이터를 분석하여 전력 품질에 대한 분석을 하였다. 뿐만아니라 전력품질에 영향을 주는 고조파신호들과 OVER/UNDER 전압과 전류 및 주파수, SAG, SWELL, INTERRUPT등을 인식하여 해당 데이터를 메모리에 저장하는 일련의 알고리즘을 연구하였으며 이렇게 저장된 정보를 이더넷망에서 무결성과 신뢰성이 있게 고속으로 전송받을 수 있는 통신 프로토콜에 관한 연구가 수행하였다. 뿐만 아니라 응용프로그램에서 소프트에웨어적인 필터링 기법과 분석알고리즘을 연구하여 이상신호에 대한 원인 판단이 가능하도록 연구한다. 본 논문은 네트워크(인터넷/이더넷)와 전력품질계측 관련 방법론과 SERVER개념을 도입한 유비쿼터스에서 센서네트워크 기법을 전력산업에 융합하려는 연구에 그 요점이 있다.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.4 no.2 s.7
• /
• pp.1-11
• /
• 2005

Automatic tracking of vehicles is important to accurately estimate the vehicle speeds in video-based traffic measurement systems and to analyze traffic flows for road construction. This paper proposes a carefully designed rule-based tracking scheme that considers the possible cases that can be appeared in the video-based vehicle racking. The proposed scheme is fast and outperforms the Mean-Shift scheme in terms of accuracy. The accuracy and the speed of the scheme would be increased by combining it with color-based searching and Kalman filters.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.11
• /
• pp.1551-1558
• /
• 2014

We propose a multi-rate sensor fusion of vision and radar using Kalman filter to solve problems of asynchronized and multi-rate sampling periods in object vehicle tracking. A model based prediction of object vehicles is performed with a decentralized multi-rate Kalman filter for each sensor (vision and radar sensors.) To obtain the improvement in the performance of position prediction, different weighting is applied to each sensor's predicted object position from the multi-rate Kalman filter. The proposed method can provide estimated position of the object vehicles at every sampling time of ECU. The Mahalanobis distance is used to make correspondence among the measured and predicted objects. Through the experimental results, we validate that the post-processed fusion data give us improved tracking performance. The proposed method obtained two times improvement in the object tracking performance compared to single sensor method (camera or radar sensor) in the view point of roots mean square error.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.3
• /
• pp.220-227
• /
• 2014

This paper presents about multi-rate sensors' synchronization and filter fusion via a sigmoid function of the Kalman filter. To synchronize multi-rate sensors, the estimation states of the Kalman filter is modified. A specific matrix that makes the filter choose sensor values only updated is multiplied to measurement matrix. For the filter that has weak points on some criteria, filter fusion is suggested by using sigmoid function. Modified kalman filter is tested with practical case. A sigmoid function was designed for the test and the performance of the modified function is estimated with respect to conventional Kalman filter. Unscented Kalman filter is used to the base filter of the suggested filter because of its stability.

• Proceedings of the Korea Contents Association Conference
• /
• 2012.05a
• /
• pp.277-278
• /
• 2012

다양한 라이프스타일에 따른 유비쿼터스 환경에서 디자인 요소와 감성공학을 결합시키는 상호작용 시스템이 요구되고 있으며 많은 연구가 진행되어 왔다. IT융합기술을 이용하여 감성 디자인을 제공하는 것은 제품 서비스 전략의 중요한 요소이다. 본 논문에서는 상황 기반의 감성 분석을 이용한 자전거 디자인 추천 방법론을 제안하였다. 제안된 방법은 자신의 감성에 부합하는 자전거 디자인을 제공함으로써 이를 얻기 위한 시간과 비용을 줄여주고, 원하는 디자인 스타일에 적용하도록 한다. 감성에 따른 자전거 디자인을 추천하기 위해 협력적 필터링을 사용하여 개인화 서비스를 제공한다. 이를 사용자 인터페이스로 구축하여 논리적 타당성과 유효성을 검증하기 위해 실험적인 적용을 시도하고자 한다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2016.04a
• /
• pp.405-407
• /
• 2016

최근, ICT/loT 기술과의 융합은 다양한 산업분야에 적용되고 있으며, 안정적인 전력공급 및 지능형전력망 구축에 대해 다양한 연구가 이루어지고 있다. 특히, 수요라인과 직접적으로 연관된 배전계통의 효율적인 운영 및 배전설비의 유지/관리 기술에 대한 연구에 많은 연구를 수행하고 있다. 본 논문에서는 다양한 배전설비에 대한 환경정보를 loT 센서를 통해 수집함으로써 실시간으로 정전상황을 불러올 수 있는 기자재의 고장감지 및 예측을 위한 시스템 모델을 제안한다. 제안하는 시스템 모델은 실시간으로 수집되는 정보들에 대해 시계열 기반의 필터링 및 이상점 판단을 위한 성분 분석을 실시하고, 고장진단 및 예측을 위해 기계학습 기반의 데이터 분석실시하여 기자재들의 고장감지 및 고장 발생 여부를 예측한다.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.10 no.2
• /
• pp.227-232
• /
• 2015

Nowadays, there are many innovative products in the pro-audio market thanks to advanced IT technology, DSP is very important technology to process high quality audio signal in SR(Sound Reinforcement) system. Digital audio technology that converged with IT technology can give new user-experience. In this paper, we present a new digital crossover system for active speakers using DSP and network technology. The prototype of crossover module consists of various audio process module such as filters, delay, phase controls and also it provides user to remote monitoring and remote control features by internet connection.