• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.2
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• pp.118-123
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• 2011

Video based object tracking normally deals with non-stationary image streams that change over time. Robust and real time moving object tracking is considered to be a problematic issue in computer vision. Multiple object tracking has many practical applications in scene analysis for automated surveillance. In this paper, we introduce a specified object tracking based particle filter used in an environment of multiple moving objects. A differential image region based tracking method for the detection of multiple moving objects is used. In order to ensure accurate object detection in an unconstrained environment, a background image update method is used. In addition, there exist problems in tracking a particular object through a video sequence, which cannot rely only on image processing techniques. For this, a probabilistic framework is used. Our proposed particle filter has been proved to be robust in dealing with nonlinear and non-Gaussian problems. The particle filter provides a robust object tracking framework under ambiguity conditions and greatly improves the estimation accuracy for complicated tracking problems.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2006.06a
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• pp.288-293
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• 2006

최근 반도체 개발 및 제조부문에서는 급속도로 성장한 Mobile 시장과 Digital Consumer Trend 에 주도적으로 대응하고자 빠른 속도의 기술적 변화를 추진하여 왔으며, 이에 따라 현장에서 발생하는 기술적 문제의 유형 또한 점점 복잡 다양해지고 있다. 기존 Commodity 제품의 경우, 세대 전환이 느리게 진행되어, 이에 수반되는 기술적 문제의 난이도와 그 발생 종류가 현재 대비 상대적으로 단순하였다. 그러나 최근 다품종 주문형 제품비중 확대로, 발생되는 문제점들이 Field Application 과 tight 한 연관성을 지니고 있어, 문제의 발생 경로, 원인 파악과 해결 대책 수립에 상당한 초기대응 시간을 필요하며, 관련 부서와의 실시간 협업 및 Cross-Checking을 통하지 않고서는 문제에 대한 최적 Solution 을 결정하기 힘든 현실이 되었다. 이러한 기술 이슈 해결 과정에 기 발생했던 유사 이슈 처리 과정 및 결과 자료가 문제 해결에 크게 기여할 수 있으나, 종래의 지식관리 시스템 체계로는 이러한 실무 형 지식을 획득하기 어려운 부분이 한계점으로 지적되고 있다. 본 논문에서는 이러한 문제점 개선이 가능한 실무형 지식 관리 (AKM: Actual Knowledge Management) 기반의 기술적 이슈 추적 관리 시스템(TITS: Technical Issue Tracking System) 구축 사례를 제시하고자 한다. TITS 는 1) 기술 이슈의 발의 및 전파 기능과 2) 이슈 해결을 위한 Action Item 부여 및 의견 교환 기능 3) 해결된 이슈의 처리 결과 등록 기능 4) 유사 이슈 사례 검색 기능 등의 크게 4 개 모듈오 구성 되어있다. 이 시스템을 통해 반도체 엔지니어들은 기술적 이슈의 발생 시점부터, 원안분석, 대책 협의 ; Action Item 수립 등 문제 해결 과정과 결과 등록 시점까지 Real time Tracking이 가능해 졌으며, 본 시스템을 통해 처리된 모든 기술적 이슈 정보는 Issue Case Database 에 분류 저장되어, 향후 유사 이슈 발생 시, 이를 활용함으로써, 빠른 초기 대응 및 문제 해결에 직접적인 도움을 받을 수 있게 되었다.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.81-90
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• 2007

The effort identifying positioning information of the moving object in real time has been a issue not only in sport biomechanics but also other academic areas. In order to solve this issue, this study tried to track the movement of a pitched ball that might provide an easier prediction because of a clear focus and simple movement of the object. Machine learning has been leading the research of extracting information from continuous images such as object tracking. Though the rule-based methods in artificial intelligence prevailed for decades, it has evolved into the methods of statistical approach that finds the maximum a posterior location in the image. The development of machine learning, accompanied by the development of recording technology and computational power of computer, made it possible to extract the trajectory of pitched baseball from recorded images. We present a method of baseball tracking, based on object tracking methods in machine learning. We introduce three state-of-the-art researches regarding the object tracking and show how we can combine these researches to yield a novel engine that finds trajectory from continuous pitching images. The first research is about mean shift method which finds the mode of a supposed continuous distribution from a set of data. The second research is about the research that explains how we can find the mode and object region effectively when we are given the previous image's location of object and the region. The third is about the research of representing data into features that we can deal with. From those features, we can establish a distribution to generate a set of data for mean shift. In this paper, we combine three works to track baseball's location in the continuous image frames. From the information of locations from two sets of images, we can reconstruct the real 3-D trajectory of pitched ball. We show how this works in real pitching images.

• KIPS Transactions on Software and Data Engineering
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• v.7 no.4
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• pp.135-144
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• 2018

The domestic pigsty environment is highly vulnerable to the spread of respiratory diseases such as foot-and-mouth disease because of the small space. In order to manage this issue, a variety of studies have been conducted to automatically analyze behavior of individual pigs in a pig pen through a video surveillance system using a camera. Even though it is required to correctly segment touching pigs for tracking each pig in complex situations such as aggressive behavior, detecting the correct boundaries among touching pigs using Kinect's depth information of lower accuracy is a challenging issue. In this paper, we propose a segmentation method using motion information of the touching pigs. In addition, our proposed method can be applied for detecting tracking errors in case of tracking individual pigs in the complex environment. In the experimental results, we confirmed that the touching pigs in a pig farm were separated with the accuracy of 86%, and also confirmed that the tracking errors were detected accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.798-802
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• 2003

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper, the robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is to use different models (CAD model etc.) known a priori. Also fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Because voting is a very simple or no model is needed for fusion, voting-based fusion of cues is applied. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters, namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.3
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• pp.162-170
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• 2014

Appearance-based subspace models such as eigenfaces have been widely recognized as one of the most successful approaches to face recognition and tracking. The success of eigenfaces mainly has its origins in the benefits offered by principal component analysis (PCA), the representational power of the underlying generative process for high-dimensional noisy facial image data. The sparse extension of PCA (SPCA) has recently received significant attention in the research community. SPCA functions by imposing sparseness constraints on the eigenvectors, a technique that has been shown to yield more robust solutions in many applications. However, when SPCA is applied to facial images, the time and space complexity of PCA learning becomes a critical issue (e.g., real-time tracking). In this paper, we propose a very fast and scalable greedy forward selection algorithm for SPCA. Unlike a recent semidefinite program-relaxation method that suffers from complex optimization, our approach can process several thousands of data dimensions in reasonable time with little accuracy loss. The effectiveness of our proposed method was demonstrated on real-world face recognition and tracking datasets.

• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.4
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• pp.26-31
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• 2008

This paper deals with the issue of position tracking control of a clamp-cylinder for injection moulding machine with electric-hydrostatic drives. A fixed displacement pump is utilized in combination with AC motor in order to directly control a clamp-cylinder. A clamp-cylinder may be required to operate under a variety of operating conditions. Therefore, robust control performance is important in position tracking control applications. In order to accommodate mismatches between the real plant and the model used for controller design, discrete-time sliding mode control is developed by combining a velocity feedforward loop. From tracking control experiments, it is shown that significant reduction in position tracking error is achieved through the use of sliding mode control.

• Special Issue of the Society of Naval Architects of Korea
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• 2013.12a
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• pp.73-80
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• 2013

From broad point of view, seam tracking has been one of main issues with respect to welding automation. Several attempts have been successful for seam tracking of fixed weaving width. As a solution of the seam tracking methods for varying groove width, the visual sensors such as CCD cameras have been adopted. Although the vision sensing techniques can achieve high accuracy, the weak point is that well-prepared vision sensor environment should be required to obtain high-quality visual measurements which can be easily affected by significant noises in industrial areas. This paper proposed an alternative seam tracking algorithm for narrow groove. A special measurement device for arc voltage, in this study, is developed to enhance the reliability of the measured welding signals. Based on the developed arc sensor algorithm, an automatic weld-width tracking algorithm is also proposed, which is able to predict the weld-position more accurately. The usefulness of the automatic weld-width tracking algorithm was well verified by applying it to gas tungsten arc welding (GTAW).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.2B
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• pp.107-118
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• 2009

In this paper, we present design and implementation for identification and location tracking techniques for vehicle information terminals in high-speed mobile environment using IEEE 802.11 wireless LAN technology. RSU be installed at a specific point. RSU recognizes it and then aware identification and location tracking for target vehicle when target vehicle that is equipped with information terminals pass near point. Issue of quick recognition using IEEE 802.11 access management frame, issue of weak wireless LAN security and tracking a range of restrictions be raised and we present solutions. Vehicle information terminal, RSU and a server-side GUI-based management program be implemented based on proposed solution. Implementation system be performed experiment at actual road environment and effectiveness be verified.