• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.17 no.4
• /
• pp.106-115
• /
• 2003

In crossing stereo camera system as a security equipment system, a new algorithm for the tracking method of the moving object and the measurement method of distance of the object from cameras to moving object is proposed. The stereo input images are matched by a pixel for the moving object extraction, then the moving elements obtained from an adaptive threshold's value for an error correction and the moving object area extracted by noise eliminative algorithm. In addition to, the moving object traced by control pan/tilt of cameras using a coordinate value of the moving object, and the measurement method of distance to moving object by using special features of the crossing stereo camera system is proposed. From the experimental results, the proposed algorithm was found to be able to measure of the distance and trace for moving object in a stereo security camera system. The error rate of a distance measurement be existed within 6%. Moreover in implementation the proposed algorithm, the stereo security system, the automatic moving robot system and the stereo remote control system will be applied practical application.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.10a
• /
• pp.157-160
• /
• 2008

A realization for moving object detecting and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. Instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution and mean error is 1.89%, and enables to track a moving path of object per 100ms period.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.1
• /
• pp.35-41
• /
• 2012

This paper proposes a moving object detection algorithm for active camera system that can be applied to mobile robot and intelligent surveillance system. Most of moving object detection algorithms based on a stationary camera system. These algorithms used fixed surveillance system that does not consider the motion of the background or robot tracking system that track pre-learned object. Unlike the stationary camera system, the active camera system has a problem that is difficult to extract the moving object due to the error occurred by the movement of camera. In order to overcome this problem, the motion of the camera was compensated by using SURF and Pseudo Perspective model, and then the moving object is extracted efficiently using stochastic Label Cluster transport model. This method is possible to detect moving object because that minimizes effect of the background movement. Our approach proves robust and effective in terms of moving object detection in active camera system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1377-1381
• /
• 2003

This paper describes real time object tracking of 3D objects in 2D image sequences. The moving objects are segmented from the image sequence using morphological operations. The moving objects are segmented by the method of differential image followed by the process of morphological dilation. The moving objects are recognized and tracked using statistical moments. The direction of moving objects are determined by the Hough transform. The straight lines in the moving objects are found with the help of Hough transform. The direction of the moving object is calculated from the orientation of the straight lines in the direction of the principal axes of the moving objects. The direction of the moving object and the displacement of the object in the image sequence is used to calculate the velocity of the moving objects. The simulation results of the proposed method are promising on the test images.

• Proceedings of the KSRS Conference
• /
• 2005.10a
• /
• pp.309-312
• /
• 2005

The need for LBS (Loc,ation Based Services) is increasing due to the wnespread of mobile computing devices and positioning technologies~ In LBS, there are many applications that need to manage moving objects (e.g. taxies, persons). The moving object join operation is to make pairs with spatio-temporal attribute for two sets in the moving object database system. It is import and complicated operation. And processing time increases by geometric progression with numbers of moving objects. Therefore efficient methods of spatio-temporal join is essential to moving object database system. In this paper, we apply spatial join methods to moving objects join. We propose two kind of join methods with TB- Tree that preserves trajectories of moving objects. One is depth first traversal spatio-temporaljoin and another is breadth-first traversal spatio-temporal join. We show results of performance test with sample data sets which are created by moving object ,generator tool.

• The KIPS Transactions:PartB
• /
• v.13B no.3 s.106
• /
• pp.255-274
• /
• 2006

Moving object boundary is very important for the accurate segmentation of moving object. We extract the moving object boundary from the moving object edge. But the object boundary shows broken boundaries so we develop a novel boundary linking algorithm to link the broken boundaries. The boundary linking algorithm forms a quadrant around the terminating pixel in the broken boundaries and searches for other terminating pixels to link in concentric circles clockwise within a search radius in the forward direction. The boundary linking algorithm guarantees the shortest distance linking. We register the background from the image sequence using the stationary background filtering. We construct two object masks, one object mask from the boundary linking and the other object mask from the initial moving object, and use these two complementary object masks to segment the moving objects. The main contribution of the proposed algorithms is the development of the novel object boundary linking algorithm for the accurate segmentation. We achieve the accurate segmentation of moving object, the segmentation of multiple moving objects, the segmentation of the object which has a hole within the object, the segmentation of thin objects, and the segmentation of moving objects in the complex background using the novel object boundary linking and the background automatically. We experiment the algorithms using standard MPEG-4 test video sequences and real video sequences of indoor and outdoor environments. The proposed algorithms are efficient and can process 70.20 QCIF frames per second and 19.7 CIF frames per second on the average on a Pentium-IV 3.4GHz personal computer for real-time object-based processing.

• Journal of Korea Multimedia Society
• /
• v.7 no.9
• /
• pp.1240-1245
• /
• 2004

This paper presents the moving objects segmentation algorithms from the sequence images in the stationary backgrounds such as surveillance camera and video phone and so on. In this paper, the moving object area is extracted with proposed object searching algorithm and then moving object is segmented within the moving object area. Also the proposed algorithms have the robustness against noise problems and results show the proposed algorithm is able to efficiently segment and track the moving object area.

• Proceedings of the KSRS Conference
• /
• 2004.10a
• /
• pp.287-290
• /
• 2004

In the moving object database system, spatiotemporal join is very import operation when we process join moving objects. Processing time of spatio-temporal join operation increases by geometric progression with numbers of moving objects. Therefore efficient methods of spatio-temporal join is essential to moving object database system. In this paper, we propose spatio-temporal join algorithm with TB-Tree that preserves trajectories of moving objects, and show result of test. We first present basic algorithm, and propose cpu-time tunning algorithm and IO-time tunning algorithm. We show result of test with data set created by moving object generator tool.

• The Journal of Korea Robotics Society
• /
• v.19 no.1
• /
• pp.130-138
• /
• 2024

High-precision 3D Object Detection is a crucial component within autonomous driving systems, with far-reaching implications for subsequent tasks like multi-object tracking and path planning. In this paper, we propose a novel approach designed to enhance the performance of 3D Object Detection, especially in heading angle estimation by employing a moving object segmentation technique. Our method starts with extracting point-wise moving labels via a process of moving object segmentation. Subsequently, these labels are integrated into the LiDAR Pointcloud data and integrated data is used as inputs for 3D Object Detection. We conducted an extensive evaluation of our approach using the KITTI-road dataset and achieved notably superior performance, particularly in terms of AOS, a pivotal metric for assessing the precision of 3D Object Detection. Our findings not only underscore the positive impact of our proposed method on the advancement of detection performance in lidar-based 3D Object Detection methods, but also suggest substantial potential in augmenting the overall perception task capabilities of autonomous driving systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1419-1423
• /
• 2004

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.