• 한국컴퓨터정보학회논문지
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• 제14권4호
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• pp.47-57
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• 2009

최근 컴퓨터비젼 분야에서 이벤트 검출 및 인식이 활발히 연구되고 있으며, 도전적인 주제들 중 하나이다. 본 논문에서는 사무실 환경에서 발생할 수 있는 이벤트의 검출 및 인식을 위한 방법을 제안한다. 제안된 방법은 MHI(Motion History Image) 시퀀스(sequence)를 이응한 인간의 모션을 분석하며, 사람의 처형과 착용한 옷의 종류와 색상, 그리고 카메라로부터의 위치관계에 불변한 특성을 가진다. 제안된 방법은 기존의 방법들 중, 칼라 정보를 이용한 방법에 비해 조명의 변화에 민감하지 않은 장점이 있으며, 관심의 대상이 되는 객체의 외형과 같은 사전지식에 의존하는 방법에 비해 스케일에 민감하지 않은 장점이 있다. 에지검출 기술을 HMI 순서 영상 정보와 결합하여 사람 모션의 기하학적 특징을 추출한 후, 이벤트 인식의 기본정보로 활용한다. 제안된 방법은 단순한 이벤트 검출 프레임웍을 사용하기 때문에 검출하고자 하는 이벤트의 설명만을 첨가하는 것으로 확장이 가능하다. 또한, 제안된 방법은 컴퓨터비젼 기술에 기반한 많은 감시시스템 뿐 아니라 상황인식 기반의 이벤트 검출 시스템에 핵심기술이다.

• Journal of Computational Design and Engineering
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• 제3권3호
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• pp.250-265
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• 2016

Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only "as-planned" situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with "as-is" environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.

• PNF and Movement
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• 제5권1호
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• pp.49-56
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• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.55.3-55
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• 2001

The implementation of human-like robot has been advanced in various parts such as mechanic arms, legs, and applications of five senses. The vision applications have been developed in several decades and especially the face recognition have become a prominent issue. In addition, the development of computer systems makes it possible to process complex algorithms in realtime. The most of human recognition systems adopt the discerning method using fingerprint, iris, and etc. These methods restrict the motion of the person to be discriminated. Recently, the researchers of human recognition systems are interested in facial recognition by using machine vision. Thus, the object of this paper is the implementation of the realtime ...

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 추계학술대회
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• pp.157-160
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• 2011

본 논문에서는 실시간 감시 시스템에서 녹화 도중에 검출된 움직임 벡터를 이용하여 사람의 활동성을 인식하고 분석하고자 한다. 전경에서 블랍(사람)을 검출하는 방법은 기존에 연구했던 차 영상을 이용하였고, MPEG-4 동영상 녹화 시 EPZS(Enhanced Predictive Zonal Search)에서 검출되는 움직임 벡터의 값을 이용하였다. 본 논문에서는 사람의 행동을 크게 세 가지의 {Active, Inactive}, {Moving, Non-moving}, {Walking, Running} 메타 클래스로 분류하고 인식하였다. 각 단계에서는 단계별 임계값을 이용하여 구분하였다. 실험을 위해서 약 150개의 상황을 연출하였으며, 실험 영상에서 각 단계를 구분하는데 약 86% ~ 98% 까지의 높은 인식률을 보였다.

• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.328-336
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• 2012

In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction). Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust $YC_bC_r$ skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.

• Journal of information and communication convergence engineering
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• 제8권2호
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• pp.191-196
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• 2010

This paper presents automatic generation of robot motion using posture template in physical training system. In this system, we define a human-like generic template with two angles, then, we generate robot motion that has used angle data of the created template. The angle data is transformed automatically to the most similar motion. This is achieved by suitable expressions for robot specification. The expressions intend to differences of angle measurement on X,Y,Z planes and DOF constraint. We choose several postures and create generic templates for chosen postures. Robot motions are also generated from generic templates by expressions.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• 자동차안전학회지
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• 제4권2호
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• pp.37-43
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• 2012

The purpose of this research is to obtain and analyze dynamic responses from human volunteers for the development of the human-like mechanical or mathematical model for Korean males in automotive rear collisions. This paper focused on the introduction to a low-speed rear impact sled test involving Korean male subjects, and the accumulation of the motion of head and neck. A total of 50 dynamic rear impact sled tests were performed with 50 human volunteers, who are 30-50 year-old males. Each subject can be involved in only one case to prevent any injury in which he was exposed to the impulse that was equivalent to a low-speed rear-end collision of cars at 5-8 km/h for change of velocity, so called, ${\Delta}V$. All subjects were examined by an orthopedist to qualify for the test through the medical check-up of their necks and low backs prior to the test. The impact device is the pendulum type, tuned to simulate the crash pulse of a real vehicle. All motions and impulses were captured and measured by motion capture systems and pressure sensors on the seat. Dynamic responses of head and T1 were analyzed in two cases(5 km/h, 8 km/h) to compare with the results in the previous studies. After the experiments, human subjects were examined to check up any change in the post medical analysis. As a result, there was no change in MRI and no injury reported. Six subjects experienced a minor stiffness on their back for no more than 2 days and got back to normal without any medical treatment.

• 대한의용생체공학회:의공학회지
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• 제28권5호
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• pp.676-683
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• 2007

A non-invasive respiratory gated radiotherapy system like those based on external anatomic motion gives better comfortableness to patients than invasive system on treatment. However, higher correlation between the external and internal anatomic motion is required to increase the effectiveness of non-invasive respiratory gated radiotherapy. Both of invasive and non-invasive methods need to track the internal anatomy with the higher precision and rapid response. Especially, the non-invasive method has more difficulty to track the target position successively because of using only image processing. So we developed the system to track the motion for a non-invasive respiratory gated system to accurately find the dynamic position of internal structures such as the diaphragm and tumor. The respiratory organ motion tracking apparatus consists of an image capture board, a fluoroscopy system and a processing computer. After the image board grabs the motion of internal anatomy through the fluoroscopy system, the computer acquires the organ motion tracking data by image processing without any additional physical markers. The patients breathe freely without any forced breath control and coaching, when this experiment was performed. The developed pattern-recognition software could extract the target motion signal in real-time from the acquired fluoroscopic images. The range of mean deviations between the real and acquired target positions was measured for some sample structures in an anatomical model phantom. The mean and max deviation between the real and acquired positions were less than 1mm and 2mm respectively with the standardized movement using a moving stage and an anatomical model phantom. Under the real human body, the mean and maximum distance of the peak to trough was measured 23.5mm and 55.1mm respectively for 13 patients' diaphragm motion. The acquired respiration profile showed that human expiration period was longer than the inspiration period. The above results could be applied to respiratory-gated radiotherapy.