• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.61-69
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• 2007

In this paper, we developed not only a reliable sound localization system including a VAD(Voice Activity Detection) component using three microphones but also a face tracking system using a vision camera. Moreover, we proposed a way to integrate three systems in the human-robot interaction to compensate errors in the localization of a speaker and to reject unnecessary speech or noise signals entering from undesired directions effectively. For the purpose of verifying our system's performances, we installed the proposed audio-visual system in a prototype robot, called IROBAA(Intelligent ROBot for Active Audition), and demonstrated how to integrate the audio-visual system.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.

• Journal of the Korea Society for Simulation
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• v.18 no.2
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• pp.77-89
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• 2009

Visual tracking technique is one of the essential things which are very important in the major fields of modern society. While contour tracking is especially necessary technique in the aspect of its fast performance with target's external contour information, it sometimes fails to track target motion because it is affected by the surrounding edges around target and weak egdes on the target boundary. To overcome these weak points, in this research it is suggested that PDMs can be obtained by generating the virtual 6-DOF motions of the mobile robot with a CCD camera and the image tracking system which is robust to the local minima around the target can be configured by constructing Active Shape Model in modular base. To show the effectiveness of the proposed method, the experiment is performed on the image stream obtained by a real mobile robot and the better performance is confirmed by comparing the experimental results with the ones of other major tracking techniques.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.16-22
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• 2003

• Journal of Korean Institute of Industrial Engineers
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• v.41 no.4
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• pp.389-395
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• 2015

According to much research on cognitive science, the impact of the scene-context on human visual search in real-world images could be as important as the saliency. Therefore, this study proposed a method of Adaptive Control of Thought-Rational (ACT-R) modeling of visual search in real-world images, based on saliency and scene-context. The modeling method was developed by using the utility system of ACT-R to describe influences of saliency and scene-context in real-world images. Then, the validation of the model was performed, by comparing the data of the model and eye-tracking data from experiments in simple task in which subjects search some targets in indoor bedroom images. Results show that model data was quite well fit with eye-tracking data. In conclusion, the method of modeling human visual search proposed in this study should be used, in order to provide an accurate model of human performance in visual search tasks in real-world images.

• ETRI Journal
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• v.29 no.5
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• pp.697-699
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• 2007

Spatiograms are histograms augmented with spatial means and covariances to capture a richer description of the target. We present a particle filtering framework for region-based tracking using spatiograms. Unlike mean shift, the framework allows for non-differentiable similarity measures to compare two spatiograms; we present one such similarity measure, a combination of a recent weighting scheme and histogram intersection. Experimental results show improved performance with the new measure as well as the importance of global spatial information for tracking. The performance of spatiograms is compared with color histograms and several texture histogram methods.

• The Journal of Korean society of community based occupational therapy
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• v.3 no.2
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• pp.25-32
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• 2013

Objective : The purpose of this study was to investigate the effect of the ankle movement and the balance when the elderly conducted self-exercise with ankle movement control device through visual feedback. Method : This case-study included pre-test and post-test. The elderly women aged 80 did self-exercise for 20 minutes both morning and afternoon every day. The pre-test and post-test was conducted tracking test for evaluating ankle control movement and running time measurement of standing on one foot and Timed up-And-Go test for balance. Result : The subject improved the ankle control movement on tracking test and improved the balance in running time measurement of standing on one foot. But, Timed up-And-Go test was no change. Conclusion : The self-exercise with device of ankle movement control through visual feedback improved the ankle control movement and the balance for elderly.

• Journal of Korea Multimedia Society
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• v.24 no.11
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• pp.1580-1587
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• 2021

Currently, the development and sale of various emoticons has given users a wider range of choices, but a systematic and specific approach to the recognition and use of emoticons by actual users is lacking. Therefore, this study tried to investigate the subjective perception and visual attention concentration of actual users on negative emotional expression emoticons through a survey and eye tracking experiment. First, as a result of subjective recognition analysis, it was found that emoticons are frequently used because their appearance is important, and they can express various emotions in a fun and interesting way. In particular, it was found that emoticons that express negative emotions are often used because they can indirectly express negative emotions through various and concretely expressed visual elements. Next, as a result of the eye tracking experiment, it was found that the negative emotional expression emoticons focused on the large elements that visually emphasized or emphasized the emotional expression elements, and it was found that the focus was not only on the facial expression but also on the physical behavioral responses and language of expression of emotions. These results will be used as basic data to understand users' perceptions and utilization of the diversified emoticons. In addition, for the long-term growth and activation of the emoticon industry market in the future, continuous research should be conducted to understand the various emotions of real users and to develop differentiated emoticons that can maximize the empathy effect appropriate to the situation.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.461-468
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• 2005

This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly $({\pm}1mm)$, and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line.

• ETRI Journal
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• v.39 no.2
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• pp.151-162
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• 2017

With the remarkable growth in rich media in recent years, people are increasingly exposed to visual information from the environment. Visual information continues to play a vital role in rich media because people's real interests lie in dynamic information. This paper proposes a novel discrete dynamic swarm optimization (DDSO) algorithm for video object tracking using invariant features. The proposed approach is designed to track objects more robustly than other traditional algorithms in terms of illumination changes, background noise, and occlusions. DDSO is integrated with a matching procedure to eliminate inappropriate feature points geographically. The proposed novel fitness function can aid in excluding the influence of some noisy mismatched feature points. The test results showed that our approach can overcome changes in illumination, background noise, and occlusions more effectively than other traditional methods, including color-tracking and invariant feature-tracking methods.