• Journal of Digital Convergence
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• v.13 no.1
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• pp.331-339
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• 2015

The purpose of this study is to evaluate utility of rotating adjustment using Xsight spine tracking system in 3D DOF location adjusting method, to minimize error between 6D DOF and 3D DOF in fiducial tracking system. In this study, the result of 6D DOF target location error is $0.124{\pm}0.058mm$, using fiducial inside tumor 3D DOF $0.673{\pm}0.142mm$, outside tumor $1.126{\pm}0.253mm$, apply with Xsight spine tracking system 3D DOF $0.542{\pm}0.103mm$. As the experiment shows, it was demonstrated that rotating adjustment through Xsight spine tracking system is valuable in case of treatment in 3D DOF location error that makes increasing accuracy and dose distribution each approximately 48% and 3%. In accordance with result of this study is useful rotation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.12
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• pp.1207-1215
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• 2013

This paper proposes the location estimation techniques of distributed targets with the multi-sensor data perceived through IR sensors of the military robots in consideration of obstacles. In order to match up targets with measured azimuths, to add to the depth-first search (DFS) algorithms in free-obstacle environment, we suggest the expanded DFS (EDS) algorithm including bypass path search, partial path search, middle level ending, and the supplementation of decision metric. After matching up targets with azimuths, we estimate the coordinate of each target by obtaining the intersection point of the azimuths with the least square error (LSE) algorithm. The experimental results show the error rate of estimated location, mean number of calculating nodes, and mean distance between real coordinates and estimated coordinates of the proposed algorithms.

• Journal of Korea Multimedia Society
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• v.24 no.6
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• pp.796-804
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• 2021

In computer vision, visual tracking method addresses the problem of localizing an specific object in video sequence according to the bounding box. In this paper, we propose a tracking method by introducing the feature correlation comparison into the siamese network to increase its matching identification. We propose a way to compute location of object to improve matching performance by a correlation operation, which locates parts for solving the searching problem. The higher layer in the network can extract a lot of object information. The lower layer has many location information. To reduce error rate of the object center point, we built a siamese network that extracts the distribution and location information of target objects. As a result of the experiment, the average center error rate was less than 25%.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.6
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• pp.1166-1191
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• 2011

This paper presents an adaptive active tracking system with sector based scanning for a single PTZ camera. Dividing sectors on an image reduces the search space to shorten selection time so that the system can cover many targets. Upon the selection of a target, the system estimates the target trajectory to predict the zooming location with a finite amount of time for camera movement. Advanced estimation techniques using probabilistic reason suffer from the unknown object dynamics and the inaccurate estimation compromises the zooming level to prevent tracking failure. The proposed system uses the simple piecewise estimation with a few frames to cope with fast moving objects and/or slow camera movements. The target is tracked in multiple steps and the zooming time for each step is determined by maximizing the zooming level within the expected variation of object velocity and detection. The number of zooming steps is adaptively determined according to target speed. In addition, the iterative estimation of a zooming location with camera movement time compensates for the target prediction error due to the difference between speeds of a target and a camera. The effectiveness of the proposed method is validated by simulations and real time experiments.

• Journal of Information Display
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• v.6 no.4
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• pp.16-25
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• 2005

In this paper, a new 3D object tracking system using the disparity motion vector (DMV) is presented. In the proposed method, the time-sequential disparity maps are extracted from the sequence of the stereo input image pairs and these disparity maps are used to sequentially estimate the DMV defined as a disparity difference between two consecutive disparity maps Similarly to motion vectors in the conventional video signals, the DMV provides us with motion information of a moving target by showing a relatively large change in the disparity values in the target areas. Accordingly, this DMV helps detect the target area and its location coordinates. Based on these location data of a moving target, the pan/tilt embedded in the stereo camera system can be controlled and consequently achieve real-time stereo tracking of a moving target. From the results of experiments with 9 frames of the stereo image pairs having 256x256 pixels, it is shown that the proposed DMV-based stereo object tracking system can track the moving target with a relatively low error ratio of about 3.05 % on average.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.5
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• pp.195-200
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• 2021

In this paper, we propose a method for a mobile robot to estimate a specific location of a service provision target using a beacon-tag for the purpose of providing location-based services (LBS) to users in an indoor environment. To estimate the location, the irregular characteristics and error factors of the received signal strength indicator (RSSI) generated from the beacon are analyzed, and the distance conversion function is derived from the RSSI data extracted by applying a Gaussian filter. Then, the distance data converted from the plurality of beacons estimates an indoor location through a triangulation technique. After that, the improvement in the location estimation is analyzed by applying the temporal confidence reasoning technique. The possibility of providing a LBS of a mobile robot was confirmed through a location estimation experiment for a plurality of designated locations in an indoor environment.

• The Journal of Korean Society for Radiation Therapy
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• v.21 no.1
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• pp.1-7
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• 2009

Purpose: The purpose is to evaluate the accuracy of correcting the targeting error through the Target Location System (TLS) for the location change error of the reference point which arises from the movement or motion of patient during the treatment using the CyberKnife. Materials and Methods: In this test, Gafchromic MD-55 film was inserted into the head and neck phantom to analyze the accuracy of the targeting, and then the 6 MV X-ray of CyberKnife (CyberKnife Robotic Radiosurgery System G4, Accuray, US) was irradiated. End to End (E2E) program was used to analyze the accuracy of targeting, which is provided by Accuray Corporation. To compute the error of the targeting, the test was carried out with the films that were irradiated 12 times by maintaining the distance within the rage of $0{\pm}0.2\;mm$ toward x, y, z from the reference point and maintaining the angle within the rage of $0{\pm}0.2^{\circ}$ toward roll, pitch, yaw, and then with the films which were irradiated 6 times by applying intentional movement. And the correlation in the average value of the reference film and the test film were analyzed through independent samples t-test. In addition, the consistency of dose distribution through gamma-index method (dose difference: 3%) was quantified, compared, and analyzed by varying the distance to agreement (DTA) to 1 mm, 1.5 mm, 2 mm, respectively. Results: E2E test result indicated that the average error of the reference film was 0.405 mm and the standard deviation was 0.069 mm. The average error of the test film was 0.413 mm with the standard deviation of 0.121 mm. The result of independent sampling t-test for both averages showed that the significant probability was P=0.836 (confidence level: 95%). Besides, by comparing the consistency of dose distribution of DTA through 1 mm, 1.5 mm, 2 mm, it was found that the average dose distribution of axial film was 95.04%, 97.56%, 98.13%, respectively in 3,314 locations of the reference film, consistent with the average dose distribution of sagittal film that was 95.47%, 97.68%, 98.47%, respectively. By comparing with the test film, it was found that the average dose distribution of axial film was 96.38%, 97.57%, 98.04%, respectively, at 3,323 locations, consistent with the average dose distribution of sagittal film which was 95.50%, 97.87%, 98.36%, respectively. Conclusion: Robotic CyberKnife traces and complements in real time the error in the location change of the reference point caused by the motion or movement of patient during the treatment and provides the accuracy with the consistency of over 95% dose distribution and the targeting error below 1 mm.

• 전자공학회논문지 IE
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• v.47 no.2
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• pp.38-46
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• 2010

In this paper, an autonomous surveillance-tracking system for Workers monitoring basing on the stereo vision scheme is proposed. That is, analysing the characteristics of the cross-axis camera system through some experiments, a optimized stereo vision system is constructed and using this system an intelligent worker surveillance-tracking system is implemented, in which a target worker moving through the environments can be detected and tracked, and its resultant stereo location coordinates and moving trajectory in the world space also can be extracted. From some experiments on moving target surveillance-tracking, it is analyzed that the target's center location after being tracked is kept to be very low error ratio of 1.82%, 1.11% on average in the horizontal and vertical directions, respectively. And, the error ratio between the calculation and measurement values of the 3D location coordinates of the target person is found to be very low value of 2.5% for the test scenario on average. Accordingly, in this paper, a possibility of practical implementation of the intelligent stereo surveillance system for real-time tracking of a target worker moving through the environments and robust detection of the target's 3D location coordinates and moving trajectory in the real world is finally suggested.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.9
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• pp.782-791
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• 2013

This paper proposes the location estimation techniques of distributed targets with the multi-sensor data perceived through IR sensors of the military robots. In order to match up targets with measured azimuths, we apply the maximum likelihood (ML), depth-first, and breadth-first tree search algorithms, in which we use the measured azimuths and the number of pixels on IR screen for pruning branches and selecting candidates. After matching up targets with azimuths, we estimate the coordinate of each target by obtaining the intersection point of the azimuths with the least square error (LSE) algorithm. The experimental results show the probability of missing target, mean of the number of calculating nodes, and mean error of the estimated coordinates of the proposed algorithms.

• Korean Journal of Remote Sensing
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• v.26 no.3
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• pp.297-304
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• 2010

Since the change in Doppler centroid according to moving targets brings alteration to the phase in azimuth differential signals of synthetic aperture radar (SAR) data, one can measure the velocity of the moving targets using this effect. In this study, we will investigate theoretically measuring the velocity of an object from azimuth differential signals by using range compressed data which is the interim outcome of treatment from the simulated SAR raw data of moving targets on the background of sea clutter. Also, it will provide evaluation for the elements that affect the estimation error of velocity from a single SAR sensor. By making RADARSAT-1 simulated image as a specific case, the research includes comparisons for the means of velocity measurement classified by the directions of movement in the four following cases. 1. A case of a single target without currents, 2. A case of a single target with tidal currents of 0.5 m/s, 1 m/s, and 3 m/s, 3. A case of two targets on a same azimuth line moving in a same direction and velocity, 4. A case of a single target contiguous to land where radar backscatter is strong. As a result, when two moving targets exist in SAR image outside the range of approximately 256 pixels, the velocity of the object can be measured with high accuracy. However, when other moving targets exist in the range of approximately 128 pixels or when the target was contiguous to the land of strong backscatter coefficient (NRCS: normalized radar cross section), the estimated velocity was in error by 10% at the maximum. This is because in the process of assuming the target's location, an error occurs due to the differential signals affected by other scatterers.