• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.811-814
• /
• 1993

The development of fuzzy pan/tilt controller for remote handling in hostile environment is presented in this paper. In remote handling, control of the camera system is somewhat tedious and time consuming. Operators should do the two tasks of manipulating teleoperator and camera pan/tilt at the same time. By automating pan/tilt control, we expect operators could concentrate only on remote operation. When operators control camera pan/tilt they use simple linguistic rules such as "If the position of end effector on TV monitor is at the edge of the screen, control pan/tilt to display the end effector near the center of the screen." Such a rule is similar to fuzzy logic, so we used fuzzy logic controller to control camera pan/tilt. pan/tilt.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.3031-3033
• /
• 2000

Surveillance system on the internet has attained lots of interests recently. Computer gives surveillance system various functions like remote control and motion detecting. In this paper. auto target tracking system using Pan/Tilt camera is suggested. It consists of UNIX server and Pan/Tilt camera. When UNIX server detect motions from images it sends Pan/Tilt command to camera and camera moves by command. After finishing movement camera replies to server and server starts detecting motion again. To improve performance of motion detecting and tracking images are divided into 9 sub-regions and camera behaves differently. It is certain that robust tracking is achieved when sub-region is applied.

• Proceedings of the KIEE Conference
• /
• 2005.05a
• /
• pp.182-184
• /
• 2005

An embedded system has been applied to many fields including households and industrial sites. The embedded system is implemented fur image tracking in security area. This system supports a fixed IP far the reliable server operation on TCP/IP networks. A real time video image on the is analyzed to detect a certain invader who jumped into the observed area. The digital camera is connected at the USB host port of the target board. The video images from the video camera is continuously analyzed and displayed at the Linux web-server. The moving vector of the invaders on the continuous image frames is calculated and then it sends the calculated pan/tilt movement. That used Block matching algorithm and edge detection algorithm for past speed. And the displacement vector is used at pan/tilt motor control through RS232 serial cable. The experiment result showed tracking performance by the moving part speed of 10 to 150 pixels/sec.

• Proceedings of the Korea Institute of Convergence Signal Processing
• /
• 2003.06a
• /
• pp.50-53
• /
• 2003

본 논문에서는 multi-camera를 이용한 인터넷 기반의 지능적 감시 시스템을 제안한다. 제안된 시스템은 두 종류의 카메라, static camera와 pan-tilt camera, 를 이용하여 출입구를 감시하고, 비인가자를 추적한다. static camera는 출·입을 검출하고 출입자를 인가자와 비인가자로 분류하는데 이용되고, pan-tilt camera는 비인가자로 분류된 출입자를 추적하는데 이용된다. 제안된 시스템은 세 가지 단계: 출입구 감시, 출입자 검출 및 분류(인가자/비인가자), 비인가자 추적으로 구성된다 출입구 감시는 출입문의 밝기값 변화를 이용한다 출입자 검출 및 분류는 skin color 모델과 얼굴 크기, 위치와 관련된 휴리스틱을 이용하여 얼굴을 검출하고, PCA(Principal Component Analysis)를 이용한 eigenspace상에서의 유클리디언 디스턴스로 템플릿 얼굴과 입력 얼굴의 유사도를 계산하여 인가자인지 비인가자인지 분류한다. 비인가자 추적은 pan-tilt 카메라를 이용하여, static camera에서 분류된, 비인가자의 움직임을 검출하고 카메라를 제어함으로써 추적한다 제안된 시스템은 무인 감시 상황에서 비인가자의 출입시 감시자에게 경고 신호를 제공하고, 감시지역에서 사건 발생시, 사건의 개요를 파악하는 중요한 정보를 빠른 시간에 제공할 수 있다는 장점을 가진다.

• Journal of Broadcast Engineering
• /
• v.17 no.6
• /
• pp.1106-1109
• /
• 2012

The stability of object tracking in non-stationary camera environment, such as intelligent surveillance system using a pan/tilt camera, is less stable compared with stationary camera environment. This is due to the fact that it is difficult to model a background image in non-stationary environment. In this letter, we propose a non-stationay pan/tilt camera surveillance system which uses a stop/go procedure together with a real-time active contour. The proposed system can track the object stable even in an environment where only a few difference frames can be obtained.

• Journal of the Korean Society for Precision Engineering
• /
• v.27 no.9
• /
• pp.43-51
• /
• 2010

Speed, accuracy and smoothness are the important properties of pan-tilt camera. In the case of a high ratio zoom lens system, low vibration characteristic is a crucial point in driving pan-tilt mechanism. In this paper, a novel micro-stepping controller with a function of reducing vibration was designed using field programmable gate arrays (FPGA) technology for high zoom ratio pan-tilt camera. The proposed variable reference current (VRC) control scheme reduces vibration decently and optimizing coil current in order to prevent the step motor from occurring missing steps. By employing VRC control scheme, the vibration in low speed could be significantly minimized. The proposed controller can also make very high speed of 378kpps micro-step driving, and increase maximum acceleration in motion profiles.

• The Journal of Korea Robotics Society
• /
• v.18 no.2
• /
• pp.197-202
• /
• 2023

This paper studies the method to extend the sensing range of a fiducial maker using a tilt camera. In the system that uses a fiducial marker to estimate their position on a map, the sensing range of the marker is an important issue. Although there are markers around, a robot with a fixed camera often misses nearby markers in the case that the viewing angle of the camera does not cover the sensing range of the marker. If the robot adjusts the viewing angle of a camera by adjusting the position information of the markers, this problem will be solved. The contribution of this paper is as follows. 1) Structural considerations for the tilting module of cameras attached to robots. 2) Tilting module control method considering the position of a marker and a robot. 3) Finally, verification of the differences in the sensing range of markers between the proposed system and the previous system.

• Proceedings of the IEEK Conference
• /
• 2002.06d
• /
• pp.141-144
• /
• 2002

This paper describes a new feature based tracking system that can track moving objects with a pan-tilt camera. We extract corner features of the scene and tracks the features using filtering, The global motion energy caused by camera movement is eliminated by finding the maximal matching position between consecutive frames using Pyramidal template matching. The region of moving object is segmented by clustering the motion trajectories and command the pan-tilt controller to follow the object such that the object will always lie at the center of the camera. The proposed system has demonstrated good performance for several video sequences.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 2009.01a
• /
• pp.742-745
• /
• 2009

This paper proposes a wireless LAN antenna system that tracks an object automatically by using image-based tracking. The proposed system consists of a camera and a pan-tilt unit in addition to a directional wireless LAN antenna. The camera and the directional antenna are set in same direction and they are set on the pan-tilt unit. A target object which has a wireless LAN receiver is tracked by using images captured by the camera. And the directional antenna faces in same direction as the camera by the pan-tilt unit. Therefore, the directional antenna keeps pointing the receiver, and a transmitting efficiency is improved. A result of a fundamental experiment shows that a receiver attached to a flying airship was tracked by a prototype of the proposed antenna system. The airship flied about, and the proposed antenna system was set on a roof of a building. The experimental result indicates an effectiveness of the proposed system compared to the conventional directional LAN antenna.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.17 no.6
• /
• pp.786-791
• /
• 2007

In the place that its security is crucial, the necessity of system which can tract and recognize random person is getting more important. In this paper, we'd like to develop the invader tracking system which consists of the sound source tracking-sensor and the pan-tilt camera for wide-area guard. After detecting the direction of any sound with the sound source tracking-sensor at first, our system make move the pan-tilt camera to that direction and extract reference image from that camera. This reference image is compared and updated by the next captured image after some interval time. By keeping on it over again, we can realize the guard system which can tract an invader using the difference image and the result of another image processing. By linking home network security system, the suggested system can provide some interfacing functions for the security service of the public facilities as well as that of home.