• The Journal of the Acoustical Society of Korea
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• 제22권1E호
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• pp.19-25
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• 2003

Ryu et al. recently proposed a multiple target angle-tracking algorithm without a data association problem. This algorithm, however, shows the degraded performance on evasive maneuvering targets, because the estimated signal subspace is d,:graded in the algorithm. In this Paper, we proposed a new algorithm, in which VFF-PASTd (Variable Forgetting Factor PASTd) algorithm is applied to Ryu's algorithm to effectively handle the evasive target tracking with better time-varying signal subspace.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.134.5-134
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• 2001

The capability of environment recognition is very important for mobile robot. Especially, a function of target tracking is necessary in monitoring and watching an object using mobile robot. In general, vision sensors such as CCD camera and laser range finder were used for tracking of a moving target. However, they are not only affected by intensity of illumination in environment but also require high performance processors to process large amount of data. Therefore, in this paper, we propose the construction of target tracking system for mobile robot using only ultrasonic sensors to cope with these problems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.558-563
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• 1992

Bearing information of target is used critically for target tracking in underwater environment. In passive sonar, target bearing measurements are obtained by processing the acoustic signal emanating from the target. PDA tracking algorithm is usually applied in this case since bearing measurements have several peaks due to interference with other acoustic sources or reflections from underwater media. In this paper, we propose a modified PDA algorithm adopting new probabilistic distributions of the number, position, and amplitude of peaks based on the analysis of real data. This algorithm is tested on real and artificially generated data. The computer simulation result shows improvement of the tracking performance.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.313-322
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• 2014

This paper is to survey and put in perspective the working methods of multi-target tracking in clutter. This paper includes theories and practices for data association and related filter structures and is motivated by increasing interest in the area of target tracking, security, surveillance, and multi-sensor data fusion. It is hoped that it will be useful in view of taking into consideration a full understanding of existing techniques before using them in practice.

• 전기학회논문지
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• 제60권6호
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• pp.1245-1254
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• 2011

This paper proposes a target tracking algorithm for wheeled mobile robots using in various fields. For the stable tracking, we apply a vision system to a mobile robot which can extract targets through image processing algorithms. Furthermore, this paper presents an algorithm to position the mobile robot at the desired location from the target by estimating its relative position and attitude. We show the problem in the tracking method using the Position-Based Visual Servo(PBVS) control, and propose a tracking method, which can achieve the stable tracking performance by combining the PBVS control with Image-Based Visual Servo(IBVS) control. When the target is located around the outskirt of the camera image, the target can disappear from the field of view. Thus the proposed algorithm combines the control inputs with of the hyperbolic form the switching function to solve this problem. Through both simulations and experiments for the mobile robot we have confirmed that the proposed visual servo control method is able to enhance the stability compared to of the method using only either PBVS or IBVS control method.

• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1044-1052
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• 2010

In this paper, a new realtime algorithm called the RTPBTD-HPDAF (Recursive Temporal Profile Base Target Detection with Highest Probability Data Association Filter) is presented for tracking fast moving small targets with IIR (Imaging Infrared) sensor systems. Spatial filter algorithms are mainly used for target in IIR sensor system detection and tracking however they often generate high density clutter due to various shapes of cloud. The TPBTD (Temporal Profile Base Target Detection) algorithm based on the analysis of temporal behavior of individual pixels is known to have good performance for detection and tracking of fast moving target with suppressing clutter. However it is not suitable to detect stationary and abruptly maneuvering targets. Moreover its computational load may not be negligible. The PTPBTD-HPDAF algorithm proposed in this paper for real-time target detection and tracking is shown to be computationally cheap while it has benefit of tracking targets with abrupt maneuvers. The performance of the proposed RTPBTD-HPDAF algorithm is tested and compared with the spatial filter with HPDAF algorithm for run-time and track initiation at real IIR video.

• 전자공학회논문지S
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• 제36S권7호
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• pp.34-42
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• 1999

다중표적 추적시스템은 여러 개의 표적물을 동시에 추적한다. 표적물의 추적에는 일반적으로 칼만필터를 사용하게 된다. 칼만필터는 최적의 특성을 지니고 있지만, 많은 계산량을 요구하는 단점이 있다. 따라서 여러 개의 표적물을 동시에 추적하는 다중표적 추적시스템의 실시간 구현을 위하여 칼만필터 대신에 계산량이 적은 다른 예측기를 사용하기도 한다. 본 논문에서는 계산량을 줄이기 위하여 칼만필터에서 사용하는 시스템의 모델을 줄이는 방법을 사용하여 보았다. 표적물의 운동을 등속운동으로 가정하여 사용된 모델은 표적물의 추적능력을 지니면서도 그 계산량을 줄일 수 있었다. 간단한 시뮬레이션과 실제의 영상정보에 적용한 결과는 등속운동을 가정한 칼만필터가 원래의 좋은 특성을 유지하면서 계산량을 줄일 수 있어 다중표적 추적시스템에 유리하게 사용될 수 있음을 보여주었다.

• 한국군사과학기술학회지
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• 제9권2호
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• pp.77-86
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• 2006

Usually, a tracking-gate of the tracker is used to track the target radar signal in the active ECM system. In this paper, we propose the feed-back tracking-gate filtering method. The designed method applies a tracking-gate of the tacker to the ECM system's receiver as a rejection or pass filter selected by the receiver's purpose, and the specific target signals can be passed or rejected though this tracking-gate filter. Thus, the number of input signals within the receiver's search band is minimized owing to this filter except the target signals. In conclusion, the EW equipment's reaction time can be reduced and the error value about the target signals can be lower than the previous methods'.

• 디지털산업정보학회논문지
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• 제8권2호
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• pp.95-104
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• 2012

In this paper, an estimation of person height and 3D location of a moving person by using the pan/tilt-embedded stereo tracking system is suggested and implemented. In the proposed system, face coordinates of a target person is detected from the sequential input stereo image pairs by using the YCbCr color model and phase-type correlation methods and then, using this data as well as the geometric information of the stereo tracking system, distance to the target from the stereo camera and 3-dimensional location information of a target person are extracted. Basing on these extracted data the pan/tilt system embedded in the stereo camera is controlled to adaptively track a moving person and as a result, moving trajectory of a target person can be obtained. From some experiments using 780 frames of the sequential stereo image pairs, it is analyzed that standard deviation of the position displacement of the target in the horizontal and vertical directions after tracking is kept to be very low value of 1.5, 0.42 for 780 frames on average, and error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 0.5% on average. These good experimental results suggest a possibility of implementation of a new stereo target tracking system having a high degree of accuracy and a very fast response time with this proposed algorithm.

• 항공우주기술
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• 제11권2호
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• pp.171-181
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• 2012

항공관제시스템을 구성하는 하부 시스템중 하나인 감시자료처리시스템(SDP, Surveillance Data Processor)은 항공 감시 레이더 등 다양한 감시 센서로부터 감시자료를 전달 받아 항공기의 항적을 추적하는 시스템으로서, SDP의 항적 추적 성능은 항공기의 안전 운항에 직접적인 영향을 미친다. 따라서 개발과정에서 SDP의 요구 성능에 대한 검증은 필수적이며, 특히 대표적인 다중 센서 다중 타겟 추적(Multi-Sensor Multi-Target Tracking)시스템으로서 다양한 타겟 추적 방법이 존재함에 따라 정량적인 추적 정확도 성능 평가가 중요하게 여겨지고 있다. 본 연구에서는 현재 한국항공우주연구원에서 개발 중인 SDP의 항적 추적 성능 검증을 위한 요구 성능 정의, 테스트 환경 구축, 테스트 결과에 대해 정리하였다.