• 한국지능시스템학회논문지
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• 제17권2호
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• pp.208-213
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• 2007

최근 가정용 로봇 연구가 활발히 진행됨에 따라, 가정과 같은 다이내믹한 환경에서 로봇이 목소리를 포함한 음원에 반응하고 그 위치를 정확히 찾아가는 것이 매우 중요해지고 있다. 인간이 목표물에 도달하기 위해 경로를 선택할 때, 그 목표물이 소리인 경우는 현재 위치에서 음원의 방향을 추적한다. 또한 그 목표물의 위치가 지도로 주워질 경우에는 현재 위치와 목표물의 절대적 방위를 기준으로 추적한다. 본 논문에서는 이처럼 사람이 다른 사람의 목소리를 듣고 반응하거나 어떤 방향으로 가고자할 때 소리가 나는 방향이나 지도를 통해 대략 자신만의 방위를 만드는 것에 착안하여, 지능형 모바일 로봇에 음원추적 장치와 전자나침반을 장착함으로써 음원의 방향 또는 절대 방위를 기준으로 목표물을 찾아가는 알고리즘을 제시하고자 한다.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2003년도 가을 학술발표논문집 Vol.30 No.2 (2)
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• pp.616-618
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• 2003

In this paper particle filter is used as an underlying algorithm to track multiple objects, which are soccer players. Multi-object tracking becomes difficult when two or more players get close to and overlap each other because particles of the filters tend to move to a region of higher posterior probability. To resolve this problem, a blob assignation algorithm which identifies the separated image blobs after occlusion, based on the predicted states according to the dynamic model is suggested. This method performed well on the sequences under general camera work.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권2호
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• pp.101-106
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• 2010

We propose an approach to estimate the real-time moving trajectory of an object in this paper. The object's position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Extended Kalman Filter(EKF) and neural networks are utilized cooperatively. Since the EKF needs to approximate a nonlinear system into a linear model in order to estimate the states, there still exist errors as well as uncertainties. To resolve this problem, in this approach the Kohonen networks, which have a high adaptability to the memory of the inputoutput relationship, are utilized for the nonlinear region. In addition to this, the Kohonen network, as a sort of neural network, can effectively adapt to the dynamic variations and become robust against noises. This approach is derived from the observation that the Kohonen network is a type of self-organized map and is spatially oriented, which makes it suitable for determining the trajectories of moving objects. The superiority of the proposed algorithm compared with the EKF is demonstrated through real experiments.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 1999년도 Proceedings of International Symposium on Remote Sensing
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• pp.194-197
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• 1999

In AVL, GIS analyze the information from the vehicles to provide commercial or other value far user. As spatial analysis functions in GIS make a new valuable information using the vehicle's position and geographic object's location, they perform an important roles to improve the management efficiency of vehicles. Most GIS however are used static data for the spatial analysis, so the research area on AVL used dynamic vehicle location has generated unsuitable result. In this study, we use GPS real time tracking data to perform spatial analysis between moving vehicle and static geographic object. The method proposed in this paper considers the driving direction of vehicle and creates the result which is located in forward of vehicle. In this paper, two spatial analysis functions, near and connectivity, are developed.

• 인터넷정보학회논문지
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• 제9권3호
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• pp.69-77
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• 2008

구조화 조명을 사용한 거리측정에 동적계획법을 적용함으로써 거리 측정의 정확성이 대폭 향상된 방법을 제안하였다. 구조화 조명을 사용한 거리 측정방법은 거리정보가 조명에 해당하는 화소의 위치에 의해 계산될 수 있다는 점을 이용한 것이다. 그러나, 이 구조화 조명 빛이 물체의 표면에서 흡수되거나 반사됨으로서 흐리거나 잘 보이지 않는 경우가 많다. 이 문제를 해결하기 위해서 본 연구에서는 동적계획법을 사용하였다. 동적 계획법을 위한 셀간 비용(cost)값은 화소 밝기 값의 역수를 사용하였으며, 상단과 하단에 각각 시작선 혹은 목표선을 설정하였다. 이 알고리즘의 장점은 동적 계획 법의 최적화 능력을 사용하므로, 구조화 조명선의 약한 흔적이나 부분적으로 절단된 조명선 위치도 잘 찾아낼 수 있다. 이 알고리즘을 사용하여 다양한 3 차원 물체를 복원한 실험 결과를 제시하였다.

• 한국IT서비스학회지
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• 제6권3호
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• pp.241-249
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• 2007

This paper describes a real-time face tracking system using effective detector and Kalman filter. In the proposed system, an image is separated into a background and an object using a real-time updated face color for effective face detection. The face features are extracted using the five types of simple Haar-like features. The extracted features are reinterpreted using Principal Component Analysis (PCA), and interpreted principal components are used for Support Vector Machine (SVM) that classifies the faces and non-faces. The moving face is traced with Kalman filter, which uses the static information of the detected faces and the dynamic information of changes between previous and current frames. The proposed system sets up an initial skin color and updates a region of a skin color through a moving skin color in a real time. It is possible to remove a background which has a similar color with a skin through updating a skin color in a real time. Also, as reducing a potential-face region using a skin color, the performance is increased up to 50% when comparing to the case of extracting features from a whole region.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제4권4호
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• pp.618-632
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• 2010

This paper presents a novel approach to control the augmented reality (AR) objects robustly in a marker-less AR system by fingertip tracking and hand pattern recognition. It is known that one of the promising ways to develop a marker-less AR system is using human's body such as hand or face for replacing traditional fiducial markers. This paper introduces a real-time method to manipulate the overlaid virtual objects dynamically in a marker-less AR system using both hands with a single camera. The left bare hand is considered as a virtual marker in the marker-less AR system and the right hand is used as a hand mouse. To build the marker-less system, we utilize a skin-color model for hand shape detection and curvature-based fingertip detection from an input video image. Using the detected fingertips the camera pose are estimated to overlay virtual objects on the hand coordinate system. In order to manipulate the virtual objects rendered on the marker-less AR system dynamically, a vision-based hand control interface, which exploits the fingertip tracking for the movement of the objects and pattern matching for the hand command initiation, is developed. From the experiments, we can prove that the proposed and developed system can control the objects dynamically in a convenient fashion.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2003년도 추계종합학술대회
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• pp.749-753
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• 2003

본 논문에서는 Custom Power의 전력품질의 향상을 위하여 PWM Buck-Boost AC-AC 컨버터를 사용, 항상 일정한 출력전압을 얻는 시스템을 보이고 제어를 위한 동적 모델링 및 제어기 설계의 일례를 보였다. 그 결과, 시스템 상태방정식을 유도하였고 전달함수를 구였으며 일정한 동작점 하에서 출력전압을 기준전압으로 regulation 제어하기 위한 제어기에 대하여 다루었다. 끝으로, 실험을 통하여 제안된 모델링과 시스템 설계가 타당함을 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.

• 동력기계공학회지
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• 제6권1호
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.