• 제어로봇시스템학회논문지
• /
• 제12권2호
• /
• pp.145-153
• /
• 2006

An optimal capturing trajectory for a moving object is proposed in this paper based on the observation that a single-curvature path is more accurate than double-or triple-curvature paths. Moving distance, moving time, and trajectory error are major factors considered in deciding an optimal path for capturing the moving object. That is, the moving time and distance are minimized while the trajectory error is maintained as small as possible. The three major factors are compared for the single and the double curvature trajectories to show superiority of the single curvature trajectory. Based upon the single curvature trajectory, a kinematics model of a mobile robot is proposed to follow and capture the moving object, in this paper. A capturing scenario can be summarized as follows: 1. Motion of the moving object has been captured by a CCD camera., 2. Position of the moving object has been estimated using the image frames, and 3. The mobile robot tries to follow the moving object along the single curvature trajectory which matches positions and orientations of the moving object and the mobile robot at the final moment. Effectiveness of the single curvature trajectory modeling and capturing algorithm has been proved, through simulations and real experiments using a 2-DOF wheel-based mobile robot.

• Current Optics and Photonics
• /
• 제6권5호
• /
• pp.463-472
• /
• 2022

At certain wavelengths, single-pixel imaging is considered to be a solution that can achieve high quality imaging and also reduce costs. However, achieving imaging of complex scenes is an overhead-intensive process for single-pixel imaging systems, so low efficiency and high consumption are the biggest obstacles to their practical application. Improving efficiency to reduce overhead is the solution to this problem. Salient object detection is usually used as a pre-processing step in computer vision tasks, mimicking human functions in complex natural scenes, to reduce overhead and improve efficiency by focusing on regions with a large amount of information. Therefore, in this paper, we explore the implementation of salient object detection based on single-pixel imaging after a single pixel, and propose a scheme to reconstruct images based on Fourier bases and use U²Net models for salient object detection.

• 제어로봇시스템학회논문지
• /
• 제19권7호
• /
• pp.599-604
• /
• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Journal of Information Processing Systems
• /
• 제17권2호
• /
• pp.227-241
• /
• 2021

Object detection techniques based on deep learning such as YOLO have high detection performance and precision in a single channel video stream. In order to expand to multiple channel object detection in real-time, however, high-performance hardware is required. In this paper, we propose a novel back-end server framework, a real-time AI vision platform (RAVIP), which can extend the object detection function from single channel to simultaneous multi-channels, which can work well even in low-end server hardware. RAVIP assembles appropriate component modules from the RODEM (real-time object detection module) Base to create per-channel instances for each channel, enabling efficient parallelization of object detection instances on limited hardware resources through continuous monitoring with respect to resource utilization. Through practical experiments, RAVIP shows that it is possible to optimize CPU, GPU, and memory utilization while performing object detection service in a multi-channel situation. In addition, it has been proven that RAVIP can provide object detection services with 25 FPS for all 16 channels at the same time.

• 한국멀티미디어학회논문지
• /
• 제19권2호
• /
• pp.112-121
• /
• 2016

ADAS(Advanced Driver Assistance Systems) and street furniture information collecting car like as MMS(Mobile Mapping System), they require object location estimation method for recognizing spatial information of object in road images. But, the case of conventional methods, these methods require additional hardware module for gathering spatial information of object and have high computational complexity. In this paper, for a coordinate of road sign in single camera image, a position estimation scheme of object in road images is proposed using the relationship between the pixel and object size in real world. In this scheme, coordinate value and direction are used to get coordinate value of a road sign in images after estimating the equation related on pixel and real size of road sign. By experiments with test video set, it is confirmed that proposed method has high accuracy for mapping estimated object coordinate into commercial map. Therefore, proposed method can be used for MMS in commercial region.

• 한국멀티미디어학회논문지
• /
• 제8권6호
• /
• pp.729-734
• /
• 2005

In order to access XML data stored in object databases, an efficient index scheme is inevitable. There have been several index schemes that can be used to efficiently retrieve XML data stored In object databases, but they are all the single path indexes that support indexing along a single schema path. Henee, if a query contains an extended path which is denoted by wild character ('*'), a query processor has to examine multiple index objects, resulting in poor performance and inconsistent index management. In this paper, we propose MPI (Multi-Path Index) scheme as a new index scheme that provides the functionality of multiple path indexes more efficiently, while it uses only one index structure. The proposed scheme is easy to manage since it considers the extended path as a logically single schema path. It is also practical since it can be implemented by little modification of the B -tree index structure.

• 한국컴퓨터정보학회논문지
• /
• 제22권3호
• /
• pp.45-51
• /
• 2017

In this paper, we propose a consecutive-frame super-resolution method to tackle a moving object problem. The super-resolution is a method restoring a high resolution image from a low resolution image. The super-resolution is classified into two types, briefly, single-frame super-resolution and consecutive-frame super-resolution. Typically, the consecutive-frame super-resolution recovers a better than the single-frame super-resolution, because it use more information from consecutive frames. However, the consecutive-frame super-resolution failed to recover the moving object. Therefore, we proposed an improved method via moving object detection. Experimental results showed that the proposed method restored both the moving object and the background properly.

• International Journal of Advanced Culture Technology
• /
• 제9권4호
• /
• pp.302-306
• /
• 2021

Indoor localization is one of the basic elements of Location-Based Service, such as indoor navigation, location-based precision marketing, spatial recognition of robotics, augmented reality, and mixed reality. We propose a Voxel Labeling-based visual positioning system using object simultaneous localization and mapping (SLAM). Our method is a method of determining a location through single image 3D cuboid object detection and object SLAM for indoor navigation, then mapping to create an indoor map, addressing it with voxels, and matching with a defined space. First, high-quality cuboids are created from sampling 2D bounding boxes and vanishing points for single image object detection. And after jointly optimizing the poses of cameras, objects, and points, it is a Visual Positioning System (VPS) through matching with the pose information of the object in the voxel database. Our method provided the spatial information needed to the user with improved location accuracy and direction estimation.

• Bulletin of the Korean Chemical Society
• /
• 제32권6호
• /
• pp.1849-1850
• /
• 2011

• International Journal of Precision Engineering and Manufacturing
• /
• 제5권1호
• /
• pp.27-35
• /
• 2004

In the field of machine vision using a single camera mounted on a mobile robot, although the detection and tracking of moving objects from a moving observer, is complex and computationally demanding task. In this paper, we propose a new scheme for a mobile robot to track and capture a moving object using images of a camera. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. And a single camera is used as visual sensors to capture image sequences of a moving object. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.