• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권9호
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• pp.1632-1652
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• 2011

This paper considers the object tracking problem in three dimensional (3-D) space when the azimuth and elevation of the object are available from the passive acoustic sensor. The particle filtering technique can be directly applied to estimate the 3-D object location, but we propose to decompose the 3-D particle filter into the three planes' particle filters, which are individually designed for the 2-D bearings-only tracking problems. 2-D bearing information is derived from the azimuth and elevation of the object to be used for the 2-D particle filter. Two estimates of three planes' particle filters are selected based on the characterization of the acoustic sensor operation in a noisy environment. The Cramer-Rao Lower Bound of the proposed 2-D particle filter-based algorithm is derived and compared against the algorithm that is based on the direct 3-D particle filter.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.746-751
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• 2006

In this paper, we present tracking algorithm for the indoor moving object. We research passive method using a camera and image processing. It had been researched to use dynamic based estimators, such as Kalman Filter, Extended Kalman Filter and Particle Filter for tracking moving object. These algorithm have a good performance on real-time tracking, but they have a limit. If the shape of object is changed or object is located on complex background, they will fail to track them. This problem will need the complicated image processing algorithm. Finally, a large algorithm is made from integration of dynamic based estimator and image processing algorithm. For eliminating this inefficiency problem, image based estimator, Mean-shift Algorithm is suggested. This algorithm is implemented by color histogram. In other words, it decide coordinate of object's center from using probability density of histogram in image. Although shape is changed, this is not disturbed by complex background and can track object. This paper shows the results in real camera system, and decides 3D coordinate using the data from mean-shift algorithm and relationship of real frame and camera frame.

• 대한기계학회논문집B
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• 제26권2호
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• pp.261-268
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• 2002

Turbulent flow past a square cylinder confined in a channel is numerically investigated by Large Eddy Simulation(LES). The main objectives of this study are to verify the experimental results of Nakagawa et al.[Exp. in Fluids, Vol. 27, 3, pp. 284∼294, 1999] by LES and to obtain related flow information in detail. The LES results obtained are in excellent agreement with the experiment both qualitatively and quantitatively. The passive paticles numerically released into the flow field clearly show the barman vortex street. However, the vortices shed from the cylinder are significantly affected by the presence of the plates. Futhermore, periodic and alternating vortex-rollups are observed in the vicinity of the plates. The rolled-up vortex is convected downstream together with the corresponding Karman vortex forming a counter-rotating vortex pair. It is also revealed that the cylinder greatly enhances mixing process of the flow.