• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.3
• /
• pp.311-316
• /
• 2009

This paper presents the motion estimation algorithm on real-time for mobile surveillance robot using particle filter. the particle filter that based on the monte carlo's sampling method, use bayesian conditional probability model which having prior distribution probability and posterior distribution probability. However, the initial probability density was set to define randomly in the most of particle filter. In this paper, we find first the initial probability density using Sum of Absolute Difference(SAD). and we applied it in the partical filter. In result, more robust real-time estimation and tracking system on the randomly moving object was realized in the mobile surveillance robot environments.

• Journal of Korea Multimedia Society
• /
• v.20 no.3
• /
• pp.437-445
• /
• 2017

Necessity of security reinforcement has been increased these days. As a result, surveillance systems using CCTV and the patrol system by person have been applied to security zone. However, CCTV has a blind spot and CCTV itself cannot handle emergency situation. Patrol system by person is economically expensive. To overcome these disadvantages, this paper presents an image-based surveillance system using unmanned aircraft. As a default, unmanned aircraft traces lines installed on ground which represents path for patrolling. If the aircraft detects objects, then it keeps a constant distance between object without missing the object in the image. Simulation results show that the proposed system can be operated even with unmanned aircraft with low specification.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.18 no.6
• /
• pp.1291-1298
• /
• 2023

Surveillance reconnaissance sensor network is used for surveillance in wartime and area of operation. In this paper, we propose a target localization method using the detection signal strength of seismic sensors. Relay equipment calculates the target location using coordinate information and detection signal strength of the seismic sensors. Target localization error deviation due to environmental factors was minimized by subtracting the dynamic offset when calculating the target location. Field test shows improvement of target localization through reduction of errors. The average error was decreased to 3.62m. Up to 62% improved result was obtained compared to weighted centroid localization method.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.12 no.2
• /
• pp.103-110
• /
• 2012

The population growth along with the urbanization, has caused more problems in many public areas, such as subway airport terminals, hospital, etc. Many surveillance systems have been installed in the public areas, but not all of those can be monitored in real-time, because the operators that observe the monitors are very small compared with the number of the monitors. For example, the observer can miss some crucial accidents or detect after considerable delays. Thus, intelligent surveillance system for preventing the accidents are needed, such as Intelligent Surveillance Systems. in this paper, we propose a new crowd density estimation method which aims at estimating moving crowd using images from surveillance cameras situated in outdoor locations. The moving crowd is estimated from the area where using optical flow. The edge information is also used as feature to measure the crowd density, so we improve the accuracy of estimation of crowd density. A multilayer neural network is designed to classify crowd density into 5 classes. Finally the proposed method is experimented with PETS 2009 images.

• Journal of the Institute of Convergence Signal Processing
• /
• v.13 no.2
• /
• pp.83-90
• /
• 2012

In this paper, an intelligent visual surveillance system based on a NIOS II embedded platform is implemented. By this time, embedded based visual surveillance systems were restricted for a special purpose because of high dependence upon hardware. In order to improve the restriction, we implement a flexible embedded platform, which is available for various purpose of applications. For high speed processing of software based programming, we improved performance of the system which is integrated the SOPC type of NIOS II embedded processor and image processing algorithms by using software programming and C2H(The Altera NIOS II C-To-Hardware(C2H) Acceleration Compiler) compiler in the core of the hardware platform. Then, we constructed a server system which globally manage some devices by the NIOS II embedded processor platform, and included the control function on networks to increase efficiency for user. We tested and evaluated our system at the designated region for visual surveillance.

• Journal of Electrical Engineering and Technology
• /
• v.6 no.6
• /
• pp.806-816
• /
• 2011

Interest about social security has recently increased in favor of safety for infrastructure. In addition, advances in computer vision and pattern recognition research are leading to video-based surveillance systems with improved scene analysis capabilities. However, such video surveillance systems, which are controlled by human operators, cannot actively cope with dynamic and anomalous events, such as having an invader in the corporate, commercial, or public sectors. For this reason, intelligent surveillance systems are increasingly needed to provide active social security services. In this study, we propose a core technique for intelligent surveillance system that is based on swarm robot technology. We present techniques for invader enclosing using swarm robots based on multiple distributed object environment. The proposed methods are composed of three main stages: location estimation of the object, specified object tracking, and decision of the cooperative behavior of the swarm robots. By using particle filter, object tracking and location estimation procedures are performed and a specified enclosing point for the swarm robots is located on the interactive positions in their coordinate system. Furthermore, the cooperative behaviors of the swarm robots are determined via the result of path navigation based on the combination of potential field and wall-following methods. The results of each stage are combined into the swarm robot-based invader-enclosing technique on multiple distributed object environments. Finally, several simulation results are provided to further discuss and verify the accuracy and effectiveness of the proposed techniques.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2018.05a
• /
• pp.230-231
• /
• 2018

Ports and coastal areas that serve as national corridors have threats such as smuggling ships, enemy infiltration ships and pirate ships. To prevent intrusion of intrusive vessels, a system is needed to continuously monitor the coastal area and detect their intrusion. However, it is difficult for surveillance personnel to identify threatened vessels while monitoring large coastal areas. In this paper, we propose a system that can monitor coastal and harbor area and automatically detect ships entering the Navigation Inhibit Area to generate alarms and classify the types of ships by image classification.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.7
• /
• pp.3220-3226
• /
• 2011

In order to monitor internal risk factors such as fire, terror, etc. on the subway station, the surveillance systems using CCTV and various kinds of sensors have been implemented and recently, introduction of surveillance systems using an advanced IT technology, sensor network technology is tried on several areas. Since 2007, Korean government has made an effort to develop the intelligent surveillance and monitoring system, which can monitor fire, intrusion, passenger congestion, health-state of structure, etc., by using wireless sensor network technology and intelligent video analytic technique. For that purpose, this study carried out field wireless communication environment test on Chungmuro Station of Seoul Metro on the basis of ZigBee that is considered as a representative wireless sensor network before field application of the intelligent integrated surveillance system being developed, arranged and analyzed and ZigBee based wireless communication environment test results on the platform and waiting room of Chungmuro Station on this paper. Results of wireless spectrum analysis on the platform and waiting room showed that there is no radio frequency overlapped with that of ZigBee based sensor network and no frequency interference with adjacent frequencies separated 10MHz or more. As results of wireless data transmission test using ZigBee showed that data transmission is influenced by multi-path fading effect from the number and flow rate of passengers on the platform or the waiting room rather than effects from entrance and exit of the train to/from the platform, it should be considered when implementing the intelligent integrated surveillance system on the station.

• Journal of Advanced Navigation Technology
• /
• v.15 no.6
• /
• pp.1234-1240
• /
• 2011

Recently lots of problems are emerged on the conventional surveillance systems at several areas. Many research activities have been processing on those problems. Therefore, in this paper, it is helpful to all sorts of accident prevention and safe driving, and risks linked to the outside or the administrator tells, that intelligent video surveillance system which can be real-time analysis and monitoring configuration, technical elements, required features, application and its applies.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.32 no.4
• /
• pp.340-346
• /
• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.