• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.212-218
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• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.330-333
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• 2009

This paper proposes a method to estimate the flow speed of pedestrians in surveillance videos. In the proposed method, the average moving speed of pedestrians is measured by estimating the size of real-world motion from the observed motion vectors. For this purpose, pixel-to-meter conversion factors are calculated from camera geometry. Also, the height information, which is missing because of camera projection, is predicted statistically from simulation experiments. Compared to the previous works for flow speed estimation, our method can be applied to various camera views because it separates scene parameters explicitly. Experiments are performed on both simulation image sequences and real video. In the experiments on simulation videos, the proposed method estimated the flow speed with average error of about 0.1m/s. The proposed method also showed a promising result for the real video.

• Journal of Broadcast Engineering
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• v.19 no.6
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• pp.916-924
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• 2014

It is possible to improve the accuracy of the motion estimation for a video by applying a variable block size. However, it has limits in the zoom motion estimation. In this paper, we propose a method for estimating the zoom motion with variable block size. The proposed method separates the background within the object picture by depth information obtained from a depth camera, and only the object regions are applied to zoom scale, but the background is not applied. In addition, the object regions select efficiently variable block size mode in consideration of the generated motion vectors and the accuracy of motion estimation at the same time. Simulation results show the accuracy of the motion estimation and the number of motion vectors for the proposed method. It is verified that the proposed method can reduce the number of motion while maintaining the similar accuracy of motion estimation than the conventional motion estimation methods.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.2
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• pp.20-28
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• 2003

Recently we need a faster and more accurate motion vector search algorithm for ASIC(Application Specific IC) or small systems. Block motion estimation using Full Search(FS) algorithm provides the best visual quality and PSNR, but it requires intensive computations. The previously proposed fast algorithms reduced the number of computations by limiting the number of searching locations. This is accomplished at the expense of less accuracy of motion estimation and gives rise to an appreciably higher SAD(Sum of Absolute Difference) for motion compensated images. In this paper we exploit the spatial correlation of motion vectors and present a fast motion estimation scheme which uses the predicted motion vector(PMV). The PMV scheme is more clear and simpler than the previously proposed algorithms which also use adjacent motion vectors. Simulation results with standard video sequences show that the PMV scheme is faster and more accurate than other algorithms such as Nearest-Neighbors Search(NNS) algorithm.

• Journal of Digital Contents Society
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• v.8 no.4
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• pp.441-449
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• 2007

In video coding, motion estimation is a process to estimate the pixel of the current frame from the reference frame, which affects directly the predictive quality and the encoding time. This paper is related to AHHS(Adaptive Hierarchical Hexagon Search) using spatio-temporal motion activity for fast motion estimation. The proposed method defines the spatio-temporal motion activity of the current macroblock using the motion vectors of its spatio-temporally adjacent macroblocks, and then conventional AHS(Adaptive Hexagon Search) is performed if the spatio-temporal motion activity is lower, otherwise, hierarchical hexagon search is performed on a multi-layered hierarchical space constructed by multiple sub-images with low frequency in wavelet transform. In the paper, based on computer simulation results for multiple video sequences with different motion characteristics, the performance of the proposed method was analysed and assessed in terms of the predictive quality and the computational time. Experimental results indicate that the proposed method is both suitable for (quasi-) stationary and large motion searches. The proposed method could keep the merit of the adaptive hexagon search capable of fast estimating motion vectors and also adaptively reduce the local minima occurred in the video sequences with higher spatio-temporal motion activity.

• Journal of the Korea Computer Industry Society
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• v.4 no.10
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• pp.731-740
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• 2003

Since motion estimation remove the redundant data to employ the temporal correlations between adjacent frames in a video sequence, it plays an important role in digital video coding. And in the block matching algorithm, search patterns of different shapes or sizes and the distribution of motion vectors have a large impact on both the searching speed and the image quality. In this paper, we propose a new fast block matching algorithm using the small-cross search pattern and the block-based gradient descent search pattern. Our algorithm first finds the motion vectors that are close to the center of search window using the small-cross search pattern, and then quickly finds the other motion vectors that are not close to the center of search window using the block-based gradient descent search pattern. Through experiments, compared with the block-based gradient descent search algorithm(BBGDS), the proposed search algorithm improves as high as 26-40% in terms of average number of search point per motion vector estimation.

• Journal of Intelligence and Information Systems
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• v.8 no.2
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• pp.1-13
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• 2002

In this paper, we propose an object tracking system which can be convinced of moving area shaped on objects through color sequential images, decided moving directions of foot messengers or vehicles of image sequences. In static camera, we suggests a new evaluating method extracting co-occurrence matrix with feature vectors of RGB after analyzing and blocking difference images, which is accessed to field of camera view for motion. They are energy, entropy, contrast, maximum probability, inverse difference moment, and correlation of RGB color vectors. we describe how to analyze and compute corresponding relations of objects between adjacent frames. In the clustering, we apply an algorithm of FCM(fuzzy c means) to analyze matching and clustering problems of adjacent frames of the featured vectors, energy and entropy, gotten from previous phase. In the matching phase, we also propose a method to know correspondence relation that can track motion each objects by clustering with similar area, compute object centers and cluster around them in case of same objects based on membership function of motion area of adjacent frames.

• Journal of Korea Multimedia Society
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• v.21 no.8
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• pp.813-820
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• 2018

This paper proposes new frame rate up-conversion algorithms. Adaptive motion estimation based on block complexity information are used to obtain more accurate motion vectors. Because the information on block complexity is extracted from the motion estimation prediction size from the original frame, additional computational complexity is not imparted. In experimental results, the proposed algorithms provide robust frame interpolation performance for whole test sequences. Also, the computational complexity of the proposed algorithm is reduced to a benchmark algorithm.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1991.10a
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• pp.81-85
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• 1991

In this paper, we present a motion compensated video compression method based on both block and object motions. A simplified objectoriented motion parameter is estimated from the block based motion vectors. A decision rule for the global or local MCP modes is established. Simulation results show that the proposed method has lower bit-rates than the BMA based method at the same reconstruction errors.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1995.06a
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• pp.131-135
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• 1995

As the search range increases, most fast ME algorithms can not keep the performance comparable to the full search BMA. In this paper, we propose a new fast motion estimation method which locates the small search area for a block of the current frame. This method is based on interframe correlation of motion vectors as well as intraframe correlation. Especially, the proposed algorithm outperforms other fast methods when the motion is very fast or complex. It drastically reduces computational complexity while maintaining good performance compared with the conventional FS-BMA.