• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.650-657
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• 2012

An effective dual-mode camera system(a passive wide-angle camera and a pan-tilt-zoom camera) is proposed in order to improve the performance of visual surveillance. The fixed wide-angle camera is used to monitor large open areas, but the moving objects on the images are too small to view in detail. And, the PTZ camera is capable of increasing the monitoring area and enhancing the image quality by tracking and zooming in on a specific moving target. However, its FOV (Field of View) is limited when zooming in on a specific target. Therefore, the cooperation of wide-angle and PTZ cameras is complementary. In this paper, we propose an automatic initial set-up algorithm and coordinate transform method from the wide-angle camera coordinate to the PTZ one, which are necessary to achieve the cooperation. The automatic initial set-up algorithm is able to synchronize the views of two cameras. When a moving object appears on the image plane of a wide-angle camera after the initial set-up positioning, the obtained values of the wide-angle camera should be transformed to the PTZ values based on the coordinate transform method. We also develope the PTZ control method. Various in-door and out-door experiments show that the proposed dual-camera system is feasible for the effective visual surveillance.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.3
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• pp.517-525
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• 2006

In this paper, the algorithm which improve the efficiency of surveillance in spite of the change of light is proposed and confirmed by virtue of the experiments. One of the problems for the implementation of visual surveillance system is the image processing technique to overcome with the variations of illumination lights. Some conventional systems are generally not considered the error due to the change of lights because the system use at indoor. In practical, the factors of bad image can be classified to the ghosts due to the reflection of lights and shadows in a scene. Especially weak images and noises at night are decreased the performance of visual surveillance system. In the paper, the filter which improve the images with some change of illumination lights is designed and the gabor filter is used for recognition and tracking of the moving objects. In the results, the system showed that the recognition and tracking were obtained $92\sim100%$ of recognition rate at daytime, but $80\sim90%$ of nighttime.

• Korean Institute of Interior Design Journal
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• v.26 no.6
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• pp.106-115
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• 2017

This study has analysed the characteristics of observation by presence of objects in exhibition spaces through eye-tracking. The area with prevailing observation by the change of observation time with visual-perception response to the presence of objects has been analyzed to figure out the mechanism of sensibility estimation which can take place while the visual-perception is being estimated in spaces. Research results are able to ascertain that First, it was very characteristic that the signs right and left were observed more when there were no objects while when there were objects they were observed prevailingly. Second, the characteristics by section when there were any objects showed that there were more high observation scale I (more than 1000ms). When there were any objects with the number of areas where all the participants prevailed commonly, the scale was more, also. Third, in the process of acquiring any visual-perception information in spaces, the element of landmark can be regarded as a control point for space cognition, where the objects (people) became landmark when there were the objects but the signs became landmark when there were no objects. Fourth, the polynomial trend line of the changes to prevailing observation frequency by observation time shows that there was a gradual average value in general when there were any objects and then after the time range[8] the prevailing observation frequency increased. Without any objects, after a particular time range the value sharply dropped along with the increase of observation time because no objects to be observed prevailingly couln't be seen. The gradual average value means that some elements in the space were prevailingly observed all the time.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.1
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• pp.23-28
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• 2009

Recently, the research which concerns the object class recognition has been done. Although an object tracking based on most of histograms employs a colored model to improve robustness, the system is not reliable enough yet. In this paper, we presents a method to express and track an object by using the histograms which are composed with visual features through succesive frames. The experimental results shows that this method is reliable to track a car within 80m distance from camera.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.9
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• pp.2373-2380
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• 1993

This paper addresses the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degree-of freedom non-contact type displacement follower has been employed in stead of vision camera. The performance of the designed system is tested for different target velocities and control gains. The test result shows the satisfactory performance to be adopted as an effective tool for visual transfer in the context of teleoperation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2062-2072
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• 1994

This paper presents the development of a fuzzy controller for driving camera pan/tilt device so that the camera's viewing direction can automatically track a moving object. To achieve computational efficiency a non-contact type displacement follower is used as a feedback sensor instead of a vision camera. The displacement follower, however, is extremely sensitive to object's lighting condition and results in unstable response at high speed. To this end, a fuzzy controller is developed in such a way to provide stable tracking performance at high speed where the sensory signal is subjected to intermittant disturbances of large magnitude. The test result shows stable tracking response even for high speed and non-uniform lighting condition. The resulting camera autotracking system can be adopted as an effective tool for visual transfer in the context of teleoperation and autonomous robotics.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.2
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• pp.693-709
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• 2018

In this paper, we propose a compact Convolutional Neural Network (CNN)-based tracker in conjunction with a particle filter architecture, in which the CNN model operates as an accurate candidates estimator, while the particle filter predicts the target motion dynamics, lowering the overall number of calculations and refines the resulting target bounding box. Experiments were conducted on the Online Object Tracking Benchmark (OTB) [34] dataset and comparison analysis in respect to other state-of-art has been performed based on accuracy and precision, indicating that the proposed algorithm outperforms all state-of-the-art trackers included in the OTB dataset, specifically, TLD [16], MIL [1], SCM [36] and ASLA [15]. Also, a comprehensive speed performance analysis showed average frames per second (FPS) among the top-10 trackers from the OTB dataset [34].

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2796-2798
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• 2005

This Paper presents a method that a mobile robot can track persons in complex environment using particle filters. The topic of person following using mobile robot is researched in many different areas. The main problems of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. We present appearance adaptive models in a particle filter to realize robust visual tracking algorithm. Adaptive appearance model can handle occlusion with other people while target is moving.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1332-1335
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• 1996

It is very important to predict the future position for the heavy vehicle with evasive maneuvering. In this paper, we considered for the manual image tracking system. The vehicle images are received from gyro stabilized mirror system, pass through the optical lens, processed, and displayed on the TV monitor. The operator try to lay the reticle to the center of vehicle image. When the vehicle is moving, the mirror platform (actually the line of sight) should follow the vehicle and the angular rate information is picked up from the mirror stabilized system. This rate signal should be used to predict the future vehicle position. The problem is that the visual system of the human operator is in the closed loop system. The rate signals are disturbed by the operator. In addition, there are some non linearities concerned with the control handle bar and the servo control system. The proposed Kalman filter, combined with some modifications for operator disturbance rejection, improved the predication of the future vehicle position when compared with the conventional passive filter used.