• 드라이브 ㆍ 컨트롤
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• 제19권3호
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• pp.23-31
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• 2022

Traffic safety issues have recently been seriously magnified, due to child deaths in apartment complexes and parking lots. Accordingly, traffic safety technologies are being developed to recognize dangerous situations on living roads and to provide warning services. In this study, a collision detection algorithm was developed to prevent collision accidents between moving objects, by using object type and location information provided from CCTV monitoring devices. To determine the exact collision between moving objects, an object movement model was developed to predict the range of movement by considering the moving characteristics of the object, and a collision detection algorithm was developed to efficiently analyze the presence and location of the collision. The developed object movement model as well as the collision detection algorithm were simulated, in a virtual space of an actual living road to verify performance and derive supplementary matters.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.574-578
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• 2009

정지 영상이나 비디오 영상 시퀀스에서 배경 영상으로부터 움직이는 관심 물체를 구별하기 위한 실시간 물체 검출은 물체의 위치 추적과 인식에 있어 필수적인 단계이다. 물체 분할 후에 그림자 영역이 움직이는 물체 영역에 포함되어지기 때문에 그림자는 물체의 일부분 혹은 움직이는 물체로 오분류될 수 있다. 이러한 이유로 그림자 제거 알고리즘은 움직이는 물체 검출 및 추적 시스템의 결과에 중요한 역할을 한다. 이 문제점들을 해결하기 위해 본 논문에서는 움직이는 물체의 특징과 색상공간에서 그림자의 특징에 기반을 둔 정확한 물체 검출과 그림자 제거 알고리즘을 제안한다. 실험결과는 제안 알고리즘이 실험 영상에서 물체 검출과 그림자 제거에 대해 효과적인 것을 알 수가 있다.

• 한국컴퓨터정보학회논문지
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• 제22권12호
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• pp.63-68
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• 2017

In this paper, we propose a bounding box prediction algorithm using multiple probability maps to improve object detection result of object detector. Although the performance of object detectors has been significantly improved, it is still not perfect due to technical problems and lack of learning data. Therefore, we use the result correction method to obtain more accurate object detection results. In the proposed algorithm, the preprocessed bounding box created as a result of object detection by the object detector is clustered in various form, and a conditional probability is given to each cluster to make multiple probability map. Finally, multiple probability map create new bounding box of object using morphological elements. Experiment results show that the newly predicted bounding box reduces the error in ground truth more than 45% on average compared to the previous bounding box.

• International journal of advanced smart convergence
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• 제9권3호
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• pp.232-238
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• 2020

In this paper, we study on aerial objects detection and position estimation algorithm for the safety of UAV that flight in BVLOS. We use the vision sensor and LiDAR to detect objects. We use YOLOv2 architecture based on CNN to detect objects on a 2D image. Additionally we use a clustering method to detect objects on point cloud data acquired from LiDAR. When a single sensor used, detection rate can be degraded in a specific situation depending on the characteristics of sensor. If the result of the detection algorithm using a single sensor is absent or false, we need to complement the detection accuracy. In order to complement the accuracy of detection algorithm based on a single sensor, we use the Kalman filter. And we fused the results of a single sensor to improve detection accuracy. We estimate the 3D position of the object using the pixel position of the object and distance measured to LiDAR. We verified the performance of proposed fusion algorithm by performing the simulation using the Gazebo simulator.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권10호
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• pp.4976-4994
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• 2018

The diffusion-based salient object detection methods have shown excellent detection results and more efficient computation in recent years. However, the current diffusion-based salient object detection methods still have disadvantage of detecting the object appearing at the image boundaries and different scales. To address the above mentioned issues, this paper proposes a multi-scale diffusion-based salient object detection algorithm with background and objectness seeds. In specific, the image is firstly over-segmented at several scales. Secondly, the background and objectness saliency of each superpixel is then calculated and fused in each scale. Thirdly, manifold ranking method is chosen to propagate the Bayessian fusion of background and objectness saliency to the whole image. Finally, the pixel-level saliency map is constructed by weighted summation of saliency values under different scales. We evaluate our salient object detection algorithm with other 24 state-of-the-art methods on four public benchmark datasets, i.e., ASD, SED1, SED2 and SOD. The results show that the proposed method performs favorably against 24 state-of-the-art salient object detection approaches in term of popular measures of PR curve and F-measure. And the visual comparison results also show that our method highlights the salient objects more effectively.

• 한국정보통신학회논문지
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• 제25권8호
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• pp.1117-1123
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• 2021

객체 인식이란 하나의 특정 이미지를 입력했을 때, 주어진 이미지를 분석하여 특정한 객체(object)의 위치(location)와 종류(class)를 파악하는 것이다. 최근 객체 인식 기술이 적극적으로 접목되는 분야 중 하나는 자율주행 차량이라 할 수 있고, 본 논문에서는 자율주행 차량에서 영상 기반의 객체 인식 인공지능 기술에 대해 기술한다. 영상 기반 객체 검출 알고리즘은 최근 두 가지 방법(단일 단계 검출 방법 및 두 단계 검출 방법)으로 좁혀지고 있는데, 이를 중심으로 분석 정리하고자 한다. 두 가지 검출 방법의 장단점을 분석 제시하고, 단일 단계 검출 방법에 속하는 YOLO/SSD 알고리즘과 두 단계 검출 방법에 속하는 R-CNN/Faster R-CNN 알고리즘에 대해 분석 기술한다. 이를 통해 자율주행에 필요한 각 객체 인식 응용에 적합한 알고리즘이 선별적으로 선택되어 연구개발 되어질 수 있기를 기대한다.

• International Journal of Internet, Broadcasting and Communication
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• 제10권4호
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• pp.50-64
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• 2018

This paper describes a visual object detection approach utilizing ensemble based machine learning. Object detection methods employing 1D features have the benefit of fast calculation speed. However, for real image with complex background, detection accuracy and performance are degraded. In this paper, we propose an ensemble learning algorithm that combines a 1D feature classifier and 2D DNF (Disjunctive Normal Form) classifier to improve the object detection performance in a single input image. Also, to improve the computing efficiency and accuracy, we propose a feature selecting method to reduce the computing time and ensemble algorithm by combining the 1D features and 2D DNF features. In the verification experiments, we selected the Haar-like feature as the 1D image descriptor, and demonstrated the performance of the algorithm on a few datasets such as face and vehicle.

• 전기학회논문지P
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• 제67권4호
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• pp.227-232
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• 2018

In this paper, we propose a faster object detection and tracking method using Deep Learning, UAV(unmanned aerial vehicle), Kalman filter and YOLO(You Only Look Once)v3 algorithms. The performance of the object tracking system is decided by the performance and the accuracy of object detecting and tracking algorithms. So we applied to the YOLOv3 algorithm which is the best detection algorithm now at our proposed detecting system and also used the Kalman Filter algorithm that uses a variable detection area as the tracking system. In the experiment result, we could find the proposed system is an excellent result more than a fixed area detection system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.570-572
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• 2006

This paper discusses the method of moving object detection for biped robot walking. Most researches on vision based object detection have mostly focused on fixed camera based algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since hired walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, method for moving object detection has been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. But these methods are not suitable to biped walking robot. So, we suggest the advanced method which is suitable to biped walking robot platform. For carrying out certain tasks, an object detecting system using modified optical flow algorithm by wireless vision camera is implemented in a biped walking robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권2호
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• pp.771-788
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• 2020

Detection of abandoned objects for smart video surveillance should be robust and accurate in various situations with low computational costs. This paper presents a new algorithm for abandoned object detection based on the dual background model. Through the template registration of a candidate stationary object and presence authentication methods presented in this paper, we can handle some complex cases such as occlusions, illumination changes, long-term abandonment, and owner's re-attendance as well as general detection of abandoned objects. The proposed algorithm also analyzes video frames at specific intervals rather than consecutive video frames to reduce the computational overhead. For performance evaluation, we experimented with the algorithm using the well-known PETS2006, ABODA datasets, and our video dataset in a live streaming environment, which shows that the proposed algorithm works well in various situations.