• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.136-141
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• 2009

This paper proposed a framework for handover method in continuously tracking a person of interest across cooperative pan-tilt-zoom (PTZ) cameras. The algorithm here is based on a robust non-parametric technique for climbing density gradients to find the peak of probability distributions called the mean shift algorithm. Most tracking algorithms use only one cue (such as color). The color features are not always discriminative enough for target localization because illumination or viewpoints tend to change. Moreover the background may be of a color similar to that of the target. In our proposed system, the continuous person tracking across cooperative PTZ cameras by mean shift tracking that using color and shape histogram to be feature distributions. Color and shape distributions of interested person are used to register the target person across cameras. For the first camera, we select interested person for tracking using skin color, cloth color and boundary of body. To handover tracking process between two cameras, the second camera receives color and shape cues of a target person from the first camera and using linear color calibration to help with handover process. Our experimental results demonstrate color and shape feature in mean shift algorithm is capable for continuously and accurately track the target person across cameras.

• Journal of Information Processing Systems
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• v.15 no.2
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• pp.344-358
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• 2019

Surveillance cameras have installed in many places because security and safety is becoming important in modern society. Through surveillance cameras installed, we can deal with troubles and prevent accidents. However, watching surveillance videos and judging the accidental situations is very labor-intensive. So now, the need for research to analyze surveillance videos is growing. This study proposes an algorithm to track multiple persons using SURF and background subtraction. While the SURF algorithm, as a person-tracking algorithm, is robust to scaling, rotating and different viewpoints, SURF makes tracking errors with sudden changes in videos. To resolve such tracking errors, we combined SURF with a background subtraction algorithm and showed that the proposed approach increased the tracking accuracy. In addition, the background subtraction algorithm can detect persons in videos, and SURF can initialize tracking targets with these detected persons, and thus the proposed algorithm can automatically detect the enter/exit of persons.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.2
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• pp.95-104
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• 2012

In this paper, an estimation of person height and 3D location of a moving person by using the pan/tilt-embedded stereo tracking system is suggested and implemented. In the proposed system, face coordinates of a target person is detected from the sequential input stereo image pairs by using the YCbCr color model and phase-type correlation methods and then, using this data as well as the geometric information of the stereo tracking system, distance to the target from the stereo camera and 3-dimensional location information of a target person are extracted. Basing on these extracted data the pan/tilt system embedded in the stereo camera is controlled to adaptively track a moving person and as a result, moving trajectory of a target person can be obtained. From some experiments using 780 frames of the sequential stereo image pairs, it is analyzed that standard deviation of the position displacement of the target in the horizontal and vertical directions after tracking is kept to be very low value of 1.5, 0.42 for 780 frames on average, and error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 0.5% on average. These good experimental results suggest a possibility of implementation of a new stereo target tracking system having a high degree of accuracy and a very fast response time with this proposed algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.4
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• pp.2075-2092
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• 2017

Person re-identification is to match pedestrians observed from non-overlapping camera views. It has important applications in video surveillance such as person retrieval, person tracking, and activity analysis. However, it is a very challenging problem due to illumination, pose and viewpoint variations between non-overlapping camera views. In this work, we propose a viewpoint invariant method for matching pedestrian images using orientation of pedestrian. First, the proposed method divides a pedestrian image into patches and assigns angle to a patch using the orientation of the pedestrian under the assumption that a person body has the cylindrical shape. The difference between angles are then used to compute the similarity between patches. We applied the proposed method to real-time global multi-object tracking across multiple disjoint cameras with non-overlapping field of views. Re-identification algorithm makes global trajectories by connecting local trajectories obtained by different local trackers. The effectiveness of the viewpoint invariant method for person re-identification was validated on the VIPeR dataset. In addition, we demonstrated the effectiveness of the proposed approach for the inter-camera multiple object tracking on the MCT dataset with ground truth data for local tracking.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.499-500
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• 2008

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2796-2798
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• 2005

This Paper presents a method that a mobile robot can track persons in complex environment using particle filters. The topic of person following using mobile robot is researched in many different areas. The main problems of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. We present appearance adaptive models in a particle filter to realize robust visual tracking algorithm. Adaptive appearance model can handle occlusion with other people while target is moving.

• ETRI Journal
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• v.37 no.3
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• pp.551-561
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• 2015

We propose a novel multiple-object tracking algorithm for real-time intelligent video surveillance. We adopt particle filtering as our tracking framework. Background modeling and subtraction are used to generate a region of interest. A two-step pedestrian detection is employed to reduce the computation time of the algorithm, and an iterative particle repropagation method is proposed to enhance its tracking accuracy. A matching score for greedy data association is proposed to assign the detection results of the two-step pedestrian detector to trackers. Various experimental results demonstrate that the proposed algorithm tracks multiple objects accurately and precisely in real time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1219-1227
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• 2013

A new type of wearable robot is developed for a disabled person with disabled limbs, that is, a person who cannot intentionally move his/her legs and arms. This robot can enable the disabled person to grip an object using eye movements. A gaze tracking algorithm is employed to detect pupil movements by which the person observes the object to be gripped. By using this gaze tracking 2D information, the object is identified and the distance to the object is measured using a Kinect device installed on the robot shoulder. By using several coordinate transformations and a matching scheme, the final 3D information about the object from the base frame can be clearly identified, and the final position data is transmitted to the DSP-controlled robot controller, which enables the target object to be gripped successfully.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2088-2091
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• 2003

We presents a new algorithm for tracking person in video sequence that integrates the meanshift iteration procedure into the particle filtering. Utilizing the nice property of convergence to the modes in the meanshift iteration we show that only a few sample points are sufficient, while in general the particle filtering requires a large number of sample points. Multi-parts of a person is tracked independently of each other based on the color Then, the similarity against the reference model color and the geometric constraints between multi-parts are reflected as the sample weights. Also presented is the computer simulation results, which show successful tracking even for complex background clutter.

• The KIPS Transactions:PartB
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• v.15B no.3
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• pp.197-204
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• 2008

It is well known that the tracking a certain person is a vary needed technic in the humanoid robot. In robot technic, we should consider three aspects that is cloth color matching, face recognition and motion analysis. Because a robot technic use some sensors, it is many different with the robot technic to track a certain person through the CCTV images. A system speed should be fast in CCTV images, hence we must have small calculation numbers. We need the statistical variable for color matching and we adapt the eigen-face for face recognition to speed up the system. In this situation, motion analysis have to added for the propose of the efficient detecting system. But, in many motion analysis systems, the speed and the recognition rate is low because the system operates on the all image area. In this paper, we use the moving energy only on the face area which is searched when the face recognition is processed, since the moving energy has low calculation numbers. When the proposed algorithm has been compared with Girondel, V. et al's method for experiment, we obtained same recognition rate as Girondel, V., the speed of the proposed algorithm was the more faster. When the LDA has been used, the speed was same and the recognition rate was better than Girondel, V.'s method, consequently the proposed algorithm is more efficient for tracking a certain person.