• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.4
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• pp.446-456
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• 2024

This paper addresses a novel approach to performance enhancement of the naval gun fire control system(FCS) by using the projectile tracking filter without any distortion of radar measurements. Under the assumption that the maneuvering between the projectile and the ship equipped with the radar is not quite large, this method is based on the concept of polar-coordinate target tracking, which separates the range estimation filter and the direction cosine estimation filter. Note that using polar-coordinates allows tracking to be performed in the same coordinate system from which the radar line-of-sight(LOS) measurements are obtained, unlike the conventional tracking process in Cartesian. Also, it is easy to implement in real-time and guarantees consistent estimates due to its linear filter structure. With the help of the above method, therefore, the proposed filter is able to improve the overall performance of FCS which requires stability of projectile estimates within a short engagement time. The effectiveness of the presented scheme is validated through computer simulations.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.71-78
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• 2007

There have been continuous efforts to automate welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, and using this, the 3 dimensional geometry of the bead is measured in real time. For the application in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.765-769
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• 1987

Some of the initial steps necessary for the application of Kalman filter will be discussed in general. The application of filtering for tracking system will then be illustrated by simple examples. Practical implementation problems as well as hardware synthesis difficulties, are discussed.

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.4
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• pp.263-269
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• 2010

This paper describes real-time detection and tracking of moving objects for unmanned visual surveillance. Using images obtained from the fixed camera it detects moving objects within the image and tracks them with displaying rectangle boxes enclosing the objects. Tracking method is implemented on an embedded system which consists of TI DSK645.5 kit and the FPGA board connected on the DSP kit. The DSP kit processes image processing algorithms for detection and tracking of moving objects. The FPGA board designed for image acquisition and display reads the image line-by-line and sends the image data to DSP processor, and also sends the processed data to VGA monitor by DMA data transfer. Experimental results show that the tracking of moving objects is working satisfactorily. The tracking speed is 30 frames/sec with 320x240 image resolution.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1029-1035
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• 2013

This paper proposes a real time lane detection algorithm using LRF (Laser Range Finder) for autonomous navigation of a mobile robot. There are many technologies for safety of the vehicles such as airbags, ABS, EPS etc. The real time lane detection is a fundamental requirement for an automobile system that utilizes outside information of automobiles. Representative methods of lane recognition are vision-based and LRF-based systems. By the vision-based system, recognition of environment for three dimensional space becomes excellent only in good conditions for capturing images. However there are so many unexpected barriers such as bad illumination, occlusions, and vibrations that the vision cannot be used for satisfying the fundamental requirement. In this paper, we introduce a three dimensional lane detection algorithm using LRF, which is very robust against the illumination. For the three dimensional lane detections, the laser reflection difference between the asphalt and lane according to the color and distance has been utilized with the extraction of feature points. Also a stable tracking algorithm is introduced empirically in this research. The performance of the proposed algorithm of lane detection and tracking has been verified through the real experiments.

• The Journal of the Korea Contents Association
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• v.9 no.8
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• pp.138-146
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• 2009

Recently big-sized hospitals showed their interest in medical information event monitoring system based on Sense and Respond in order to give patients in emergency a safer medical treatment. In this paper we implemented medical information event monitoring system based on Sense and Respond which stand on event and monitoring process. This system consists of event definition, event extraction, event delivery, and monitoring. It ensures real-time response by grasping and delivering medical information in real-time, and well-balanced understanding of information for hospital management by real-time tracking. Also early confrontation case by case by, event delivery make the safety of patients be secured, the efficiency of hospital can be maximized by early grasping the problems in hospital management problems.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3037-3040
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• 2000

Real-Time object tracking has emerged as an important component in several application areas including machine vision. surveillance. Human-Computer Interaction. image-based control. and so on. And there has been developed various algorithms for a long time. But in many cases. they have showed limited results under uncontrolled situation such as illumination changes or cluttered background. In this paper. we present a novel. computationally efficient algorithm for tracking human face robustly under illumination changes and cluttered backgrounds. Previous algorithms usually defines color model as a 2D membership function in a color space without consideration for illumination changes. Our new algorithm developed here. however. constructs a 3D color model by analysing plenty of images acquired under various illumination conditions. The algorithm described is applied to a mobile head-eye robot and experimented under various uncontrolled environments. It can track an human face more than 100 frames per second excluding image acquisition time.

• The KIPS Transactions:PartB
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• v.10B no.3
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• pp.329-338
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• 2003

Object tracking in a real time image is one of Interesting subjects in computer vision and many practical application fields past couple of years. But sometimes existing systems cannot find object by recognize background noise as object. This paper proposes a method of object detection and tracking using adaptive background image in real time. To detect object which does not influenced by illumination and remove noise in background image, this system generates adaptive background image by real time background image updating. This system detects object using the difference between background image and input image from camera. After setting up MBR(minimum bounding rectangle) using the internal point of detected object, the system tracks object through this MBR. In addition, this paper evaluates the test result about performance of proposed method as compared with existing tracking algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.8 no.2
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• pp.240-244
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• 2007

Non-intrusive methods based on active remote IR illumination fur eye tracking is important for many applications of vision-based man-machine interaction. One problem that has plagued those methods is their sensitivity to lighting condition change. This tends to significantly limit their scope of application. In this paper, we present a new real-time eye detection and tracking methodology that works under variable and realistic lighting conditions. Based on combining the bright-pupil effect resulted from IR light and the conventional appearance-based object recognition technique, our method can robustly track eyes when the pupils are not very bright due to significant external illumination interferences. The appearance model is incorporated in both eyes detection and tracking via the use of support vector machine and the mean shift tracking. Additional improvement is achieved from modifying the image acquisition apparatus including the illuminator and the camera.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.3
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• pp.204-212
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• 2020

For general target tracking works by receiving a set of measurements from sensor. However, if the SNR(Signal to Noise Ratio) is low due to small RCS(Radar Cross Section), caused by remote small targets, the target's information can be lost during signal processing. TBD(Track Before Detect) is an algorithm that performs target tracking without threshold for detection. That is, all sensor data is sent to the tracking system, which prevents the loss of the target's information by thresholding the signal intensity. On the other hand, using all sensor data inevitably leads to computational problems that can severely limit the application. In this paper, we propose an iterative Joint Integrated Probabilistic Data Association as a practical target tracking technique suitable for a low SNR multi-target environment with real time operation capability, and verify its performance through simulation studies.