• Title/Summary/Keyword: Realtime Tracking

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Real-time Target Tracking System by Extended Kalman Filter (확장칼만필터를 이용한 실시간 표적추적)

  • 임양남;이성철
    • Journal of the Korean Society for Precision Engineering
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    • v.15 no.7
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    • pp.175-181
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    • 1998
  • This paper describes realtime visual tracking system of moving object for three dimensional target using EKF(Extended Kalman Filter). We present a new realtime visual tracking using EKF algorithm and image prediction algorithm. We demonstrate the performance of these tracking algorithm through real experiment. The experimental results show the effectiveness of the EKF algorithm and image prediction algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image.

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Realtime Face Tracking using Motion Analysis and Color Information (움직임분석 및 색상정보를 이용한 실시간 얼굴추적)

  • Lee, Kyu-Won
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.11 no.5
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    • pp.977-984
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    • 2007
  • A realtime face tracking algorithm using motion analysis from image sequences and color information is proposed. Motion area from the realtime moving images is detected by calculating temporal derivatives first, candidate pixels which represent face region is extracted by the fusion filtering with multiple color models, and realtime face tracking is performed by discriminating face components which includes eyes and lips. We improve the stability of face tracking performance by using template matching with face region in an image sequence and the reference template of face components.

The Implementation of the Realtime Visual Tracking of Moving Terget by using Kalman Filter (칼만필터를 이용한 이동 목표물의 실시간 시각추적의 구현)

  • 임양남;방두열;이성철
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1996.04a
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    • pp.254-258
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    • 1996
  • In this paper, we proposed realtime visual tracking system of moving object for 2D target using extended Kalman Filter Algorithm. A targeting marker are recongnized in each image frame and positions of targer object in each frame from a CCD camera while te targeting marker is attached to the tip of the SCARA robot hand. After the detection of a target coming into any position of the field-of-view, the target is tracked and always made to be located at the center of target window. Then, we can track the moving object which moved in inter-frames. The experimental results show the effectiveness of the Kalman filter algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image

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Implementation of Object Tracking System with Multi Camera by Using Background Generation Technique (배경 생성 기법을 이용한 다중 카메라 객체 추적 시스템 구현)

  • Jo, Hyun-Tae;Jang, Jae-Nee;Kang, Nam-Oh;Paik, Joon-Ki
    • Proceedings of the IEEK Conference
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    • 2008.06a
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    • pp.947-948
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    • 2008
  • Recently, many efforts have been made for research and application of object tracking system. However, introduced object tracking algorithms have limitations to adopt a realtime object tracking system with multi camera. In this paper, we present a novel background generation and target object recognition algorithm for realtime object tracking system with multi camera and implemented it.

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Real-Time Correction Based on wheel Odometry to Improve Pedestrian Tracking Performance in Small Mobile Robot (소형 이동 로봇의 사람 추적 성능 개선을 위한 휠 오도메트리 기반 실시간 보정에 관한 연구)

  • Park, Jaehun;Ahn, Min Sung;Han, Jeakweon
    • The Journal of Korea Robotics Society
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    • v.17 no.2
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    • pp.124-132
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    • 2022
  • With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

Realtime Vehicle Tracking and Region Detection in Indoor Parking Lot for Intelligent Parking Control (지능형 주차 관제를 위한 실내주차장에서 실시간 차량 추적 및 영역 검출)

  • Yeon, Seungho;Kim, Jaemin
    • Journal of Korea Multimedia Society
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    • v.19 no.2
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    • pp.418-427
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    • 2016
  • A smart parking management requires to track a vehicle in a indoor parking lot and to detect the place where the vehicle is parked. An advanced parking system watches all space of the parking lot with CCTV cameras. We can use these cameras for vehicles tracking and detection. In order to cover a wide area with a camera, a fisheye lens is used. In this case the shape and size of an moving vehicle vary much with distance and angle to the camera. This makes vehicle detection and tracking difficult. In addition to the fisheye lens, the vehicle headlights also makes vehicle detection and tracking difficult. This paper describes a method of realtime vehicle detection and tracking robust to the harsh situation described above. In each image frame, we update the region of a vehicle and estimate the vehicle movement. First we approximate the shape of a car with a quadrangle and estimate the four sides of the car using multiple histograms of oriented gradient. Second we create a template by applying a distance transform to the car region and estimate the motion of the car with a template matching method.

Tracking System Development for Optimal Efficiency of PV System (PV 시스템의 효율 최적화를 위한 추적 시스템 개발)

  • Choi, Jung-Sik;Ko, Jae-Sub;Kim, Do-Yeon;Jung, Byung-Jin;Jung, Dong-Hwa
    • Proceedings of the KIEE Conference
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    • 2008.10c
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    • pp.188-190
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    • 2008
  • In this paper, it proposes a the high efficiency tracking system regarding power loss when operating a tracking system for environment variable such as a rapidly changing insolation to improve the power of PV tracking system. In case of tracking an azimuth and altitude of the sun in realtime, therefore, the actual PV power is less increasing than the power of tracking system fixed a specific position. To reduce the power loss, this paper proposes a nonel control algorithm of the tracking system. The paper is analyzed efficiency about conventional PV tracking method, comparing proposed algorithm with high performance method. We show propriety of proposed algorithm by means of the demonstrable study.

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Efficiency optimization control of photovoltaic tracking system with climate and environment variation (기후환경 변화에 대한 태양광 추적 시스템의 효율최적화 제어)

  • Choi, Jung-Sik;Ko, Jae-Sub;Jung, Chul-Ho;Kim, Do-Yeon;Jung, Byung-Jin;Jun, Young-Sun;Chung, Dong-Hwa
    • Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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    • 2008.05a
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    • pp.403-406
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    • 2008
  • In this paper proposes a novel tracking algorithm regarding the power loss when operating a tracking system for a rapidly changing insolation to improve the power of PV tracking system. In case of tracking an azimuth and altitude of the sun in realtime, therefore, the actual PV power is less increasing than the power of tracking system fixed a specific position. To reduce the power loss, this paper proposes a nonel control algorithm of the tracking system. The paper is analyzed efficiency about conventional PV tracking method, comparing proposed algorithm with high performance method. We show propriety of proposed algorithm by means of the demonstrable study.

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Realtime Markerless 3D Object Tracking for Augmented Reality (증강현실을 위한 실시간 마커리스 3차원 객체 추적)

  • Min, Jae-Hong;Islam, Mohammad Khairul;Paul, Anjan Kumar;Baek, Joong-Hwan
    • Journal of Advanced Navigation Technology
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    • v.14 no.2
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    • pp.272-277
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    • 2010
  • AR(Augmented Reality) needs medium between real and virtual, world, and recognition techniques are necessary to track an object continuously. Optical tracking using marker is mainly used, but it takes time and is inconvenient to attach marker onto the target objects. Therefore, many researchers try to develop markerless tracking techniques nowaday. In this paper, we extract features and 3D position from 3D objects and suggest realtime tracking based on these features and positions, which do not use just coplanar features and 2D position. We extract features using SURF, get rotation matrix and translation vector of 3D object using POSIT with these features and track the object in real time. If the extracted features are nor enough and it fail to track the object, then new features are extracted and re-matched to recover the tracking. Also, we get rotation in matrix and translation vector of 3D object using POSIT and track the object in real time.