• Title/Summary/Keyword: Real-time object

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Real-time passive millimeter wave image segmentation for concealed object detection (은닉 물체 검출을 위한 실시간 수동형 밀리미터파 영상 분할)

  • Lee, Dong-Su;Yeom, Seok-Won;Lee, Mun-Kyo;Jung, Sang-Won;Chang, Yu-Shin
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.37 no.2C
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    • pp.181-187
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    • 2012
  • Millimeter wave (MMW) readily penetrates fabrics, thus it can be used to detect objects concealed under clothing. A passive MMW imaging system can operate as a stand-off type sensor that scans people in both indoors and outdoors. However, because of the diffraction limit and low signal level, the imaging system often suffers from low image quality. Therefore, suitable statistical analysis and computational processing would be required for automatic analysis of the images. In this paper, a real-time concealed object detection is addressed by means of the multi-level segmentation. The histogram of the image is modeled with a Gaussian mixture distribution, and hidden object areas are segmented by a multi-level scheme involving $k$-means, the expectation-maximization algorithm, and a decision rule. The complete algorithm has been implemented in C++ environments on a standard computer for a real-time process. Experimental and simulation results confirm that the implemented system can achieve the real-time detection of concealed objects.

The Design and Implementation of Open Architecture CNC Software Module by a Real-time Control (실시간 제어에 의한 개방형 CNC 소프트웨어 모듈의 설계 및 구현)

  • 이제필
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.8 no.5
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    • pp.54-62
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    • 1999
  • This paper describes the design and implementation of a PC(personal computer) based open architecture machine tool controller. The hardware of open architecture CNC has generally a motion control board on a PC for controlling a servo motor. But this paper describes open architecture hardware that consists of a PC, a counter board a DAC board and a DIO board only. This makes it easy to generate CNC software module in a hardware-independent way. The proposed open architecture CNC software runs on the MS-Windows NT. The paper describes a method of con-trolling servo motors using a real-time timer of MS-Windows NT and a commercial real-time operating system on the MS-Windows. NT. An open and reconfigurable software module is made up of an object and an API(application programming interface). Using the object and the API a new CNC system can be quickly configured to control dif-ferent machine tools. The proposed open architecture CNC system is applied to 4-axis lettering center.

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A Real-Time Rendering Algorithm of Large-Scale Point Clouds or Polygon Meshes Using GLSL (대규모 점군 및 폴리곤 모델의 GLSL 기반 실시간 렌더링 알고리즘)

  • Park, Sangkun
    • Korean Journal of Computational Design and Engineering
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    • v.19 no.3
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    • pp.294-304
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    • 2014
  • This paper presents a real-time rendering algorithm of large-scale geometric data using GLSL (OpenGL shading language). It details the VAO (vertex array object) and VBO(vertex buffer object) to be used for up-loading the large-scale point clouds and polygon meshes to a graphic video memory, and describes the shader program composed by a vertex shader and a fragment shader, which manipulates those large-scale data to be rendered by GPU. In addition, we explain the global rendering procedure that creates and runs the shader program with the VAO and VBO. Finally, a rendering performance will be measured with application examples, from which it will be demonstrated that the proposed algorithm enables a real-time rendering of large amount of geometric data, almost impossible to carry out by previous techniques.

The Virtual Environment Control using Real-time Graphic Deformation Algorithm (실시간 그래픽 디포메이션 알고리즘을 이용한 가상환경젱어)

  • 강원찬;김남오;최창주
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.53 no.5
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    • pp.309-314
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    • 2004
  • In the established virtual-reality system, although it is possible to transact a faculty of sensation and graphic in a single PC, virtual object forcibly treated with rigid body for the reason of the huge amount of calculation, and the number of polygon is restricted. Furthermore, there is some difficulty in the financial aspect and a program field, because the existing virtual-reality system needs at least two workstations or super computers. In this study, the new force-reflecting algorithm called as "Proxy" and a finite element method of Hyperion are applied to this system in order to transact in real-time. Consequently, though the number of polygon, which brings about an obstacle is increased in the real-time graphic transaction, this system makes it possible to transact in the real-time, not being influenced by the size of the virtual object.

A Study on the Application of Real-Time Object-Oriented Modeling Technique for Real-Time Computer Control (실시간 컴퓨터제어를 위한 ROOM기법의 적용에 관한 연구)

  • Kim, Jong-Sun;Yoo, Ji-Yoon
    • Proceedings of the KIEE Conference
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    • 2001.07d
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    • pp.2687-2689
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    • 2001
  • 본 연구는 철도 신호분야에서 가장 중요한 역 단위 제어 시스템인 전자 연동 시스템의 실시간 제어 알고리즘 설계 기법을 제안한 것이다. 제안한 기법은 ROOM(Real-Time Object-Oriented Modeling)을 기반으로한 구조설계와 상세설계로 구성된다. 구조 설계는 모델링 휴리스틱기법에 의해 설계되는데 먼저 특정의 요구조건을 포착하여 이해하고, 그 다음에 요구조건을 기반으로 설계된다. 상세 설계는 구조설계에 의한 자료를 비교, 검토한 후 반복적으로 모델링하여 만족할 만한 값을 얻으면 바로의 구현할 수 있도록 설계함으로써 신뢰성있는 시스템 구축과 정확성을 높인다. 기존 환경과의 인터페이스가 편리하며 이식성이 좋은 C++언어로 구현하였으며, 또한 운영시스템은 실시간 운영체제(Real-Time OS)인 VRTX 기반에서 설계, 실행되었다. 제안한 기법은 대표적인 모델역에 대하여 적용하고, 그 성능을 검증함으로써 유용성을 입증하고자 한다.

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Deep learning platform architecture for monitoring image-based real-time construction site equipment and worker (이미지 기반 실시간 건설 현장 장비 및 작업자 모니터링을 위한 딥러닝 플랫폼 아키텍처 도출)

  • Kang, Tae-Wook;Kim, Byung-Kon;Jung, Yoo-Seok
    • Journal of KIBIM
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    • v.11 no.2
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    • pp.24-32
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    • 2021
  • Recently, starting with smart construction research, interest in technology that automates construction site management using artificial intelligence technology is increasing. In order to automate construction site management, it is necessary to recognize objects such as construction equipment or workers, and automatically analyze the relationship between them. For example, if the relationship between workers and construction equipment at a construction site can be known, various use cases of site management such as work productivity, equipment operation status monitoring, and safety management can be implemented. This study derives a real-time object detection platform architecture that is required when performing construction site management using deep learning technology, which has recently been increasingly used. To this end, deep learning models that support real-time object detection are investigated and analyzed. Based on this, a deep learning model development process required for real-time construction site object detection is defined. Based on the defined process, a prototype that learns and detects construction site objects is developed, and then platform development considerations and architecture are derived from the results.

OnBoard Vision Based Object Tracking Control Stabilization Using PID Controller

  • Mariappan, Vinayagam;Lee, Minwoo;Cho, Juphil;Cha, Jaesang
    • International Journal of Advanced Culture Technology
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    • v.4 no.4
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    • pp.81-86
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    • 2016
  • In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object (동적 물체의 비전 검출을 통한 이동로봇의 장애물 회피)

  • Kim, In-Kwen;Song, Jae-Bok
    • The Journal of Korea Robotics Society
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    • v.3 no.3
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    • pp.212-218
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    • 2008
  • Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

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Object Classification Method using Hilbert Scanning Distance (힐버트 스캔 거리값을 이용한 물체식별 알고리즘)

  • Choi, Jeong-Hwan;Baek, Young-Min;Choi, Jin-Young
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.57 no.4
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    • pp.700-705
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    • 2008
  • In this paper, we propose object classification algorithm for real-time surveillance system. We have approached this problem using silhouette-based template matching. The silhouette of the object is extracted, and then it is compared with representative template models. Template models are previously stored in the database. Our algorithm is similar to previous pixel-based template matching scheme like Hausdorff Distance, but we use 1D image array rather than 2D regions inspired by Hilbert Path. Transformation of images could reduce computational burden to compute similarity between the detected image and the template images. Experimental results show robustness and real-time performance in object classification, even in low resolution images.

A Study on Real Time Control of Moving Stuff Action Through Iterative Learning for Mobile-Manipulator System

  • Kim, Sang-Hyun;Kim, Du-Beum;Kim, Hui-Jin;Im, O-Duck;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
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    • v.22 no.4
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    • pp.415-425
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    • 2019
  • This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.