• 스마트미디어저널
• /
• 제13권2호
• /
• pp.23-31
• /
• 2024

In precision cattle farm, reliably tracking the identity of each cattle is necessary. Effective tracking of cattle within farm environments presents a unique challenge, particularly with the need to minimize the occurrence of excessive tracking trajectories. To address this, we introduce a trajectory playback decision tree algorithm that reevaluates and cleans tracking results based on spatio-temporal relationships among trajectories. This approach considers trajectory as metadata, resulting in more realistic and accurate tracking outcomes. This algorithm showcases its robustness and capability through extensive comparisons with popular tracking models, consistently demonstrating the promotion of performance across various evaluation metrics that is HOTA, AssA, and IDF1 achieve 68.81%, 79.31%, and 84.81%.

• 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.

• 전기학회논문지
• /
• 제68권1호
• /
• pp.172-181
• /
• 2019

This paper deals with the problem of generating the energy optimal trajectory which is intended to enhance the target tracking performance of a passive homing missile. Noticing that the essence of passive target tracking is the range estimation problem, the target information gathered by passive measurements can be readily analyzed by introducing the range estimator designed in line-of-sight(LOS) frame. Moreover, for the linear filter structure of the suggested range estimator, the cost function associated with the target information is clearly expressed as a function of the line-of-sight rate. Based on this idea, the optimal missile trajectory maximizing the target information is obtained by solving the saddle point problem for an indefinite quadratic cost which consists of the target information and the energy. It is shown that, different from the previous heuristic approaches, the guidance command producing the optimal passive homing trajectory is produced by the modified proportional navigation guidance law whose navigation constant is determined by the weighting coefficient for target information cost.

• 대기
• /
• 제24권2호
• /
• pp.245-251
• /
• 2014

Statistical trajectory analysis has been widely used to identify potential source regions for chemically and radiatively important chemical species in the atmosphere. The most widely used method is a statistical source-receptor model developed by Stohl (1996), of which the underlying principle is that elevated concentrations at an observation site are proportionally related to both the average concentrations on a specific grid cell where the observed air mass has been passing over and the residence time staying over that grid cell. Thus, the method can compute a residence-time-weighted mean concentration for each grid cell by superimposing the back trajectory domain on the grid matrix. The concentration on a grid cell could be used as a proxy for potential source strength of corresponding species. This technical note describes the statistical trajectory approach and introduces its application to estimate potential source regions of $CO_2$ enhancements observed at Korean Global Atmosphere Watch Observatory in Anmyeon-do. Back trajectories are calculated using HYSPLIT 4 model based on wind fields provided by NCEP GDAS. The identified $CO_2$ potential source regions responsible for the pollution events observed at Anmyeon-do in 2010 were mainly Beijing area and the Northern China where Haerbin, Shenyang and Changchun mega cities are located. This is consistent with bottom-up emission information. In spite of inherent uncertainties of this method in estimating sharp spatial gradients within the vicinity of the emission hot spots, this study suggests that the statistical trajectory analysis can be a useful tool for identifying anthropogenic potential source regions for major GHGs.

• 한국멀티미디어학회논문지
• /
• 제7권12호
• /
• pp.1745-1753
• /
• 2004

A method of estimating the pose of a three-dimensional object from a set of two-dimensioal images based on parametric eigenspace method is proposed. A Gaussian blurred edge image is used as an input image instead of the original image itself as has been used previously. The set of input images is compressed using K-L transformation. By comparing the estimation errors for the original, blurred original, edge, and blurred edge images, we show that blurring with the Gaussian function and the use of edge images enhance the data compression ratio and decrease the resulting from smoothing the trajectory in the parametric eigenspace, thereby allowing better pose estimation to be achieved than that obtainable using the original images as it is. The proposed method is shown to have improved efficiency, especially in cases with occlusion, position shift, and illumination variation. The results of the pose angle estimation show that the blurred edge image has the mean absolute errors of the pose angle in the measure of 4.09 degrees less for occlusion and 3.827 degrees less for position shift than that of the original image.

• 센서학회지
• /
• 제27권4호
• /
• pp.216-220
• /
• 2018

In this paper, we present visual sensing techniques that can be used to teach a robot using a laser pointer. The light spot of an off-the-shelf laser pointer is detected and its movement is tracked on consecutive images of a camera. The three-dimensional position of the spot is calculated using stereo cameras. The light spot on the image is detected based on its color, brightness, and shape. The detection results in a binary image, and morphological processing steps are performed on the image to refine the detection. The movement of the laser spot is measured using two methods. The first is a simple method of specifying the region of interest (ROI) centered at the current location of the light spot and finding the spot within the ROI on the next image. It is assumed that the movement of the spot is not large on two consecutive images. The second method is using a Kalman filter, which has been widely employed in trajectory estimation problems. In our simulation study of various cases, Kalman filtering shows better results mostly. However, there is a problem of fitting the system model of the filter to the pattern of the spot movement.

• 제어로봇시스템학회논문지
• /
• 제12궈1호
• /
• pp.9-14
• /
• 2006

This paper presents methods of robot localization using recent radio frequency identification technology. If the absolute position and orientation of a tag are given in an indoor environment where RFID tags are installed, a robot can estimate its location using the relationship of the identified tag and the robot in a relative coordinate. To derive this relationship, we propose three estimation techniques using a model of a RFID reader, the direction of identification and the detection range. In this algorithm, a suitable estimation method is selected out of the three proposed techniques depending on the situations and trajectory of robot in the detection range. Simulation and experimental results show that the proposed methods can provide good performance for localization.

• 한국항행학회논문지
• /
• 제12권4호
• /
• pp.295-303
• /
• 2008

고속으로 장거리를 비행하는 위성발사체는 고장 시 큰 위험을 줄 수 있으므로, 비행 궤도를 감시하고 고장여부를 판단하는 비행안전 시스템의 운용이 필수적이다. 비행안전 시스템에 적용되는 필터는 일반적인 위치추적 필터와는 달리 필터 정확성 보다는 신뢰성이 우선 시 되어야 하고, 정확한 순간낙하점 추정을 위해서는 궤도 위치뿐만 아니라 속도 역시 중요하게 여겨져야 한다. 본 논문에서는 KSLV-I 위성발사체 발사 시 운용되는 추적 센서를 적용하는 융합필터를 구성하고 궤도 및 순간낙하점을 계산하여 구성된 필터의 성능을 시험하였다.

• 한국추진공학회지
• /
• 제19권6호
• /
• pp.10-18
• /
• 2015

로켓 기반 공기흡입추진(RBCC : Rocket Based Combined Cycle) 엔진이 적용된 재사용 발사체의 요구 중량 및 성능을 분석하고 예측하였다. RBCC 엔진을 위해 개발한 엔진 모델과 비행체 궤적 모델을 통합하여 RBCC 기반 재사용 발사체의 궤적 및 성능계산 모델을 개발하였으며, 기존 논문의 결과와 비교함으로써 검증하였다. 개발된 모델과 기존 논문을 바탕으로 총 이륙중량 15톤의 재사용 발사체에 대한 무게분석과 엔진의 요구 조건을 도출하였으며, 엔진의 모드 전환 마하수 변화 등에 따른 비행체의 추진제 요구량 변화를 분석하였다.

• 한국정밀공학회지
• /
• 제28권1호
• /
• pp.48-55
• /
• 2011

Hydraulic excavator is one of the most widely used heavy machines in construction sites including dismantling. In the dismantling sites, the excavators equipped with crusher or breaker carry out dangerous operations, so drivers are always exposed to unexpected danger. For safety operation, remote control of the hydraulic excavator has been studied using proportional control valve, which requires an appropriate motion control of its bucket tip. In this case, kinematics and dynamics analysis have to be preceded through modeling of excavator. However, it is difficult to acquire reasonable results from the analysis due to insufficient information of physical parameters such as mass of each links and locations of mass centers, etc. This study deals with the trajectory control of bucket tip, which is based on experimental estimation of cylinder output force. The estimated forces are fed into the control of each cylinder in order to compensate gravitational and frictional effects in the cylinders. The control was applied to horizontal trajectories that are for flattening work.