• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.60-70
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• 2000

In this paper a 3D position measuring device that finds the 3D position of an arbitarily placed object using a camersa system is introduced. The camera system consists of three stepping motors and a CCD camera and a laser. The viewing direction of the camera is controlled by two stepping motors (pan and tilt motors) and the direction of a laser is also controlled by a stepping motors(laser motor). If an object in a remote place is selected from a live video image the x,y,z coordinates of the object with respect to the reference coordinate system can be obtained by calculating the distance from the camera to the object using a structured light scheme and by obtaining the orientation of the camera that is controlled by two stepping motors. The angles o f stepping motors are controlled by a SGI O2 workstation through a parallel port. The mathematical model of the camera and the distance measuring system are calibrated to calculate an accurate position of the object. This 3D position measuring device can be used to acquire information that is necessary to monitor a remote place.

• Journal of Korea Multimedia Society
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• v.22 no.2
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• pp.167-177
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• 2019

Even though so much progresses have been achieved in Multiple Object Tracking (MOT), most of reported MOT methods are not still satisfactory for commercial embedded products like Pan-Tilt-Zoom (PTZ) camera. In this paper, we propose a real-time multiple pedestrians tracking method for embedded environments. First, we design a new light weight convolutional neural network(CNN)-based pedestrian detector, which is constructed to detect even small size pedestrians, as well. For further saving of processing time, the designed detector is applied for every other frame, and Kalman filter is employed to predict pedestrians' positions in frames where the designed CNN-based detector is not applied. The pose orientation information is incorporated to enhance object association for tracking pedestrians without further computational cost. Through experiments on Nvidia's embedded computing board, Jetson TX2, it is verified that the designed pedestrian detector detects even small size pedestrians fast and well, compared to many state-of-the-art detectors, and that the proposed tracking method can track pedestrians in real-time and show accuracy performance comparably to performances of many state-of-the-art tracking methods, which do not target for operation in embedded systems.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.727-730
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• 2004

영상은 복잡한 객체들의 집합으로 이루어져 있기 때문에 영상에 포함된 객체를 분리하는 일은 컴퓨터 비전이나 인식 등 많은 분야에서 중요시 된다. 영상 처리 측면에서 객체를 분할하기 위해서 색상, 모양, 질감, 움직임 등 다양한 기법들이 이용되고 있다. 본 논문에서는 정확한 색상의 비교를 위해서 CIE 색상 모델을 이용하고 있으며 이것을 기반으로 객체를 추출하고 있다. 그리고 추출된 객체의 해석과 검증을 위해서 모양 기반의 분석법을 이용하고 있다. 본 논문에서는 Pan/Tilt 카메라의 타겟팅(Targeting)과 포커싱(Focusing)을 위해 영상 내에 포함되어진 객체를 검출하기 위한 방법론을 제안하고자 한다. 객체를 인식하기 위해 CIE 색상 모델을 이용한 색상 매칭 기법을 제안하고 있다. 색상의 분포를 파악하기 위해서 CIE 모델이 생성해내는 Lab 블록을 통계적인 방법으로 분석한다. 그리고 분석된 결과는 CIE 블록 매칭(Bock Matching) 기법의 기준이 되며 이것을 이용해서 후보 객체 영역(Candidate Object Area)을 추출하게 된다. 추출된 후보 객체 영역을 검증하기 위해서 모멘트를 이용한 모양 기반의 분석을 활용하고 있다.

• Journal of Ocean Engineering and Technology
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• v.32 no.6
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• pp.511-517
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• 2018

This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

• Journal of Korea Multimedia Society
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• v.24 no.8
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• pp.1178-1183
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• 2021

Based on the camera movement on image expression and grammar, this study intended to analyze the characteristics of image expression filmed and broadcasted by drones. This study analyzed drone images using the movement characteristics of existing video cameras as a coding nomenclature. These were intended to examine the differences from existing video grammar and their implications. This study conducted a content analysis using the entire population of drone news footage broadcast for four years in 2015, 2016, 2017 and 2018 by TV Chosun. The size of the screen, camera work, duration of the shot, camera angle, etc. were selected and analyzed. As a result, the drone camera work showed that it uses the most dolly shots in the case of camera movement, followed by the drone camera movement in the order of pan and tilt shots. For zoom, the frequency of use was the smallest. In addition, this study analyzed the size of the screen, duration of the shot, and camera angle of drone. Analysis shows that drones use certain camera movements most frequently, and unlike grandiose modifiers such as "extension of human gaze," drone remains as a supplementary means to enhance the traditional media expression.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.363-366
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• 2013

오늘날 도난방지, 화재, 범죄예방 등의 안전한 생활을 위한 감시 시스템의 중요성이 강조되고 있다. 이에 영상보안 시장 규모가 급속히 증가하고 있으며 관련 기술도 인공지능을 겸비한 형태로 발전하고 있다. 우리나라도 영상보안 시스템의 수요가 2002년부터 기업과 정부를 중심으로 증가하고 있으며 급속한 성장을 거듭하는 추세는 2012년 이후에도 지속될 전망이다. 특히, 최근에는 적은 대수의 카메라로 보다 넓은 지역을 관찰하고 특정 부분을 확대 관찰할 수 있는 PTZ 카메라의 활용이 증가하고 있다. PTZ 카메라는 카메라에 구동 장치를 추가하여 좌우(Pan), 상하(Tilt)로 카메라의 시점을 이동시킬 수 있으며 특정 부분을 확대하여 관찰할 수 있는 줌(Zoom) 기능을 가진 카메라를 말한다. 이와 같은 장점으로 지능형 PTZ 카메라는 점차 대중화 되고 있다. 하지만, 현재 시중에 판매되는 많은 종류의 PTZ 카메라를 이용한 영상보안 감시는 실제로 사용자들이 동작하고 사용하는데 있어서 많은 문제점을 가지고 있다. 이에 본 논문에서는 카메라 별로 제공하는 상이하고 왜곡된 좌표 값에서 새롭게 가공한 직관적 절대좌표 값을 추출하여 정확한 목표지점으로의 위치이동과 간편한 카메라 조작을 위한 시스템을 설계하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.07a
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• pp.479-480
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• 2023

현대 사회는 출생아가 줄어들고 고령화 현상이 빠르게 진행 중이다. 20~30대의 사회 복지 종사자가 줄어들고 노인 인구는 늘어나는 반비례 현상이 나타나고 있다. 보호자가 없는 노인에게 낙상 사고와 같은 위급상황이 발생한다면 골든타임을 놓칠 수도 있을 것이다. 따라서, 본 논문에서는 낙상 사고 발생 시, 빠른 시간 내에 실시간 모니터링을 통해 노인 복지사가 상황을 인지할 수 있게 하는 시스템을 개발하였다. 미디어파이프 포즈 모델을 이용하여 관찰 대상의 움직임을 포착하도록 하였고 PTZ 카메라의 서보 모터 제어를 통해 포착한 관찰 대상을 추적하도록 하였다. 주요 장면은 사진으로 저장해 웹 서버로 전송하고, 심박수 측정 센서와 와이파이 통신 모듈이 장착된 아두이노 보드가 실시간으로 웹 서버로 전송하여, 전담 관리자는 사진을 통해 상황을 인식하고 심박수를 보고 얼마나 위급한지 알 수 있도록 하였다.

• The Journal of the Convergence on Culture Technology
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• v.9 no.1
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• pp.663-668
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• 2023

Recently it is very important to collect information such as enemy positions and facilities. To this end, unmanned aerial vehicles such as multicopters have been actively developed, and various mission equipment mounted on unmanned aerial vehicles have also been developed. The coordinate-oriented algorithm refers to an algorithm that calculates a gaze angle so that the mission equipment can fix the gaze at a desired coordinate or position. Flight data and GPS data were collected and simulated using Matlab for coordinate-oriented algorithms. In the simulation using only the coordinate data, the average Pan axis angle was about 0.42°, the Tilt axis was 0.003°~0.43°, and the relatively wide error was about 0.15° on average. As a result of converting this into the distance in the NE direction, the error distance in the N direction was about 2.23m on average, and the error distance in the E direction was about -1.22m on average. The simulation applying the actual flight data showed a result of about 19m@CEP. Therefore, we conducted a study on the self-error of coordinate-oriented algorithms in monitoring and information collection, which is the main task of EOTS, and confirmed that the quantitative target of 500m is satisfied with 30m@CEP, and showed that the desired coordinates can be directed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.39 no.6
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• pp.535-540
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• 2015

The location of the pivot between the backrest and seat pan of a reclining chair should be identical to the hip joint center to prevent unpleasant user experiences during tilting motion. However, mechanical friction occurs in the pin-in-slot joints that are installed under the seat pan as an alternative to the hinge joint. This reduces the reaction force between the backrest and the occupant's back when reclining and returning to an upright position, which causes the occupant's discomfort. In this study, bearings, rollers, and sliders were suggested as alternatives for the pin component, and the percentage of the reaction force on the backrest was measured while reclining the backrest and subsequently returning it to an upright position. The results show when bearings, rollers, and sliders were used for the pin-in-slot joint, the percentages of the reaction force were $59.7{\pm}10.3$, $47.2{\pm}13.6$, and $30.3{\pm}18.1$, respectively, indicating that the friction of the bearing was the lowest among the three pin components. Because the three alternatives have different manufacturing costs, synthetic judgment requires the consideration of not only mechanical friction but also user experience.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.159-166
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• 2016

In this paper, an active object tracking system basing on the pan/tilt-embedded stereo camera system is suggested and implemented. In the proposed system, once the face area of a target is detected from the input stereo image by using a YCbCr color model and phase-type correlation scheme and then, using this data as well as the geometric information of the tracking system, the distance and 3D information of the target are effectively extracted in real-time. Basing on these extracted data the pan/tilted-embedded stereo camera system is adaptively controlled and as a result, the proposed system can track the target adaptively under the various circumstance of the target. From some experiments using 480 frames of the test input stereo image, it is analyzed that a standard variation between the measured and computed the estimated target's height and an error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 1.03 and 1.18% on average, respectively. From these good experimental results a possibility of implementing a new real-time intelligent stereo target tracking and surveillance system using the proposed scheme is finally suggested.