• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.5
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• pp.271-280
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• 2014

In wireless sensor networks, there have been two methods for sensing continuously moving object tracking: user-query based method and periodic report based method. Although the former method requires overhead for user query rather than the latter method, the former one is known as an energy-efficient method without transferring unnecessary information. In the former method, a virtual tree, consisting of sensor nodes, is exploited for the user querying and sensor reporting. The tree stores the information about mobile objects; the stored information is triggered to report by the user query. However, in case of fast moving object, the tracking accuracy reduces due to the time delay of end-to-end repeated query. To solve the problem, we propose a query relaying method reducing the time delay for mobile object tracking. In the proposed method, the nodes in the tree relay the query to the adjacent node according to the movement of mobile object tracking. Relaying the query message reduces the end-to-end querying time delay. Simulation results show that our method is superior to the existing ones in terms of tracking accuracy.

• Spatial Information Research
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• v.14 no.2 s.37
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• pp.235-244
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• 2006

The MMS(Mobile Mapping System) using the vehicle equipped GPS, IMU and CCD Cameras is the effective system for the management of the road facilities, update of the digital map, and etc. The image, vehicle's 3 dimensional position and attitude information provided MMS is a important source for positioning objects included the image. In this research we applied the tracking technique to the specific object in image. The extraction of important object from immense MMS data makes more effectiveness in this system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.496-504
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• 2009

This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.1
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• pp.197-205
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• 2006

This paper presents the moving object tracking method using vision system. In order to track object in real time, the image of moving object have to be located the origin of the image coordinate axes. Accordingly, Fuzzy Control System is investigated for tracking the moving object, which control the camera module with Pan/Tilt mechanism. Hereafter, so the this system is applied to mobile robot, we design and implement image processing board for vision system. Also fuzzy controller is implemented to the StrongArm board. Finally, the proposed fuzzy controller is useful for the real-time moving object tracking system by experiment.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.310-316
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• 2007

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.

• Journal of the Korea Society of Computer and Information
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• v.13 no.2
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• pp.235-242
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• 2008

An Autonomous mobile robot is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this position estimation, a method of determining an optimal path for the autonomous mobile robot from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a mobile robot. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the autonomous mobile robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.856-861
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• 2011

The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

• Journal of Internet Computing and Services
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• v.7 no.3
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• pp.71-82
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• 2006

This paper propose a realtime tracking algorithm of mobile object in indoor environment. this proposed system selects location data closer to mobile objects in real time that are results of Triangulation method and DCM(Database Correlation Method)method. Also, this system applies adjusted location data selected by using Kalman filter, and in result it improved location accuracy of transfer object. Be studied in existing the Kalman filter have unstable location data until its settlement because of it extracts current values by using the past the information. However, proposed location tracking system don't apply existent Kalman filter to this system and it permits precisional tracking location by uses more effective methods.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.1
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• pp.46-51
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• 2005

Intelligent Space(ISpace) is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.363-363
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• 2000

The conventional algorithms which identify and follow a moving target using a camera located at a fixed position are not appropriate for applying to the cases o( using mobile robots, due to their long processing time. This paper proposes a new tracking algorithm based on the sensing system which uses a line light with a single camera. The algorithm categirizes the motion patterns of a pair of mobile objects into parallel, branching, and merging motion, to decide of which objects the trajectories should be calculated to follow the reference object. Kalman Filter is used to estimate the trajectories of selected objects. The proposed algorithm has shown in the experiments that the mobile robot does not miss the target in most cases.