• Journal of Korea Multimedia Society
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• v.20 no.6
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• pp.893-910
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• 2017

In this paper, we propose a simple online multiple object (human) tracking method, LKDeep (Lucas-Kanade feature and Detection based Simple Online Multiple Object Tracker), which can run in fast online enough on CPU core only with acceptable tracking performance for embedded surveillance purpose. The proposed LKDeep is a pragmatic hybrid approach which tracks multiple objects (humans) mainly based on LK features but is compensated by detection on periodic times or on necessity times. Compared to other state-of-the-art multiple object tracking methods based on 'Tracking-By-Detection (TBD)' approach, the proposed LKDeep is faster since it does not have to detect object on every frame and it utilizes simple association rule, but it shows a good object tracking performance. Through experiments in comparison with other multiple object tracking (MOT) methods using the public DPM detector among online state-of-the-art MOT methods reported in MOT challenge [1], it is shown that the proposed simple online MOT method, LKDeep runs faster but with good tracking performance for surveillance purpose. It is further observed through single object tracking (SOT) visual tracker benchmark experiment [2] that LKDeep with an optimized deep learning detector can run in online fast with comparable tracking performance to other state-of-the-art SOT methods.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• Journal of Korean Society for Geospatial Information Science
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• v.18 no.2
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• pp.93-97
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• 2010

This paper presents the improved KLT(Kanade-Lucas-Tomasi) of registration of Image sequence captured by camera mounted on unmanned helicopter assuming without camera attitude information. It consists of following procedures for the proposed image registration. The initial interested points are detected by characteristic curve matching via dynamic programming which has been used for detecting and tracking corner points thorough image sequence. Outliers of tracked points are then removed by using Random Sample And Consensus(RANSAC) robust estimation and all remained corner points are classified as inliers by homography algorithm. The rectified images are then resampled by bilinear interpolation. Experiment shows that our method can make the suitable registration of image sequence with large motion.

• Journal of the Institute of Convergence Signal Processing
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• v.15 no.4
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• pp.112-118
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• 2014

This paper deals with a color-based tracking of a moving object. Firstly, existing Camshift algorithm is complemented to improve the tracking weakness in the brightness change of an image which occurs in every frame. The complemented Camshift still shows unstable tracking when the objects with same color of the tracking object exist in background. In order to overcome the drawback this paper proposes the Camshift combined with KLT algorithm based on optical flow. The KLT algorithm performing the pixel-based feature tracking can complement the shortcoming of Camshift. Experimental results show that the merged tracking method makes up for the drawback of the Camshit algorithm and also improves tracking performance.

• Proceedings of the Korean Society for Bioinformatics Conference
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• 2006.02a
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• pp.78-78
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• 2006

Gene expression analysis can be performed by one-color (intensity-based) or two-color (ratio-based) microarray platforms depending on the specific applications and needs of the researcher. The traditional two-color approach is well founded from a historical and scientific standpoint, and the one-color approach, when paired with high quality microarrays and a robust workflow, offers additional flexibility in experimental design. Two of the major requirements of any microarray platform are system reproducibility, which provides the means for high confidence experiments and accurate comparison across multiple samples; and high sensitivity, for the detection of significant gene expression changes, including small fold changes across multiple gene sets. Each of these requirements is fulfilled by the Agilent One-color Gene Expression Platform as illustrated by the data included in this study. As a result, researchers have the ability to take advantage of the enhanced performance and sensitivity of Agilent's 60-mer oligonucleotide microarrays, and experience the first commercial microarray platform compatible with both one- and two-color detection.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.766-772
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• 2015

This paper proposes an object detection method based on motion estimation using background subtraction in the fisheye images obtained through omni-directional camera mounted on the vehicle. Recently, most of the vehicles installed with rear camera as a standard option, as well as various camera systems for safety. However, differently from the conventional object detection using the image obtained from the camera, the embedded system installed in the vehicle is difficult to apply a complicated algorithm because of its inherent low processing performance. In general, the embedded system needs system-dependent algorithm because it has lower processing performance than the computer. In this paper, the location of object is estimated from the information of object's motion obtained by applying a background subtraction method which compares the previous frames with the current ones. The real-time detection performance of the proposed method for object detection is verified experimentally on embedded board by comparing the proposed algorithm with the object detection based on LKOF (Lucas-Kanade optical flow).

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.63 no.4
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• pp.317-321
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• 2014

This paper describes the information for quantitative simulation of weakly ionized plasma. We must grasp the meaning of the plasma state condition to utilize engineering application and to understand materials of plasma state. Using quantitative simulations of weakly ionized plasma, we can analyze gas characteristic. In this paper, the electron Ionization and diffusion Coefficients in $CH_4$ has been analysed over the E/N range 0.1~300[Td], at the 300[$^{\circ}K$] by the two term approximation Boltzmann equation method and Monte Carlo Simulation. Boltzmann equation method has also been used to predict swarm parameter using the same cross sections as input. The behavior of electron has been calculated to give swarm parameter for the electron energy distribution function has been analysed in $CH_4$ at E/N=10, 100 for a case of the equilibrium region in the mean energy. A set of electron collision cross section has been assembled and used in Monte Carlo simulation to predict values of swarm parameters. The result of Boltzmann equation and Monte Carlo Simulation has been compared with experimental data by Ohmori, Lucas and Carter. The swarm parameter from the swarm study are expected to sever as a critical test of current theories of low energy scattering by atoms and molecules.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.05c
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• pp.43-46
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• 2004

This paper describes the information for quantitative simulation of weal이y ionized plasma. We must grasp the meaning of the plasma state condition to utilize engineering application and to understand materials of plasma state. Using quantitative simulations of weakly ionized plasma, we can analyze gas characteristic. In this paper, the electron transport characteristic in $CH_4$ has been analysed over the E/N range 0.1~300[Td], at the $300[_{\circ}K]$ by the two tenn approximation Boltzmann equation method and Monte Carlo Simulation. Boltzmann equation method has also been used to predict swarm parameter using the same cross sections as input. The behavior of electron has been calculated to give swarm parameter for the electron energy distribution function has been analysed in $CH_4$ at E/N=10, 100 for a case of the equilibrium region in the mean energy. The result of Boltzmann equation and Monte Carlo Simulation has been compared with experimental data by Ohmori, Lucas and Carter. The swarm parameter from the swarm study are expected to sever as a critical test of current theories of low energy scattering by atoms and molecules.

• ETRI Journal
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• v.36 no.6
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• pp.913-923
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• 2014

This paper proposes a global mapping algorithm for multiple robots from an omnidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas-Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapping algorithm draws a global map by using map data obtained from all of the individual robots. Global mapping takes a long time to process because it exchanges map data from individual robots while searching all areas. An omnidirectional image sensor has many advantages for object detection and mapping because it can measure all information around a robot simultaneously. The process calculations of the correction algorithm are improved over existing methods by correcting only the object's feature points. The proposed algorithm has two steps: first, a local map is created based on an omnidirectional-vision SLAM approach for individual robots. Second, a global map is generated by merging individual maps from multiple robots. The reliability of the proposed mapping algorithm is verified through a comparison of maps based on the proposed algorithm and real maps.

• Proceedings of the KIEE Conference
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• 1985.07a
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• pp.215-218
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• 1985

In this paper, The electron drift velocity was measured from an experimental study of the open end heat pipe system by induced current method as alkali metal vapour was generated in ordinary region of a drift tube. The test condition was alkali metal vapour range from 3.6 to 20.1(Torr), temperature of 667 to 755(K), and E/N of $1{\times}10^{-16}$ to $1{\times}10^{-15}(v.cm^2)$. The results of this study were obtained essentially the same as the extrapolated prediction curve for electron drift velocity in the alkali metal Vapour of J. Lucas et 31 with range of E/N: $1{\times}10^{-17}$ to $1{\times}10^{-16}(v.cm^2)$, and the electron drift velocity was obtained the result an increase in alkali to E/N range from E/N $2.8{\times}10^{-17}$ to $5.6{\times}10^{-16}(v.cm^2)$ (E/N From 2.8 to 50 Td).