• 제목/요약/키워드: real-time visual tracking

검색결과 109건 처리시간 0.027초

Real-Time Surveillance of People on an Embedded DSP-Platform

  • Qiao, Qifeng;Peng, Yu;Zhang, Dali
    • Journal of Ubiquitous Convergence Technology
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    • 제1권1호
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    • pp.3-8
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    • 2007
  • This paper presents a set of techniques used in a real-time visual surveillance system. The system is implemented on a low-cost embedded DSP platform that is designed to work with stationary video sources. It consists of detection, a tracking and a classification module. The detector uses a statistical method to establish the background model and extract the foreground pixels. These pixels are grouped into blobs which are classified into single person, people in a group and other objects by the dynamic periodicity analysis. The tracking module uses mean shift algorithm to locate the target position. The system aims to control the human density in the surveilled scene and detect what happens abnormally. The major advantage of this system is the real-time capability and it only requires a video stream without other additional sensors. We evaluate the system in the real application, for example monitoring the subway entrance and the building hall, and the results prove the system's superior performance.

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순차적인 몬테카를로 필터를 사용한 차량 추적 (Vehicle Tracking using Sequential Monte Carlo Filter)

  • 이원주;윤창용;김은태;박민용
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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    • pp.434-436
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    • 2006
  • In a visual driver-assistance system, separating moving objects from fixed objects are an important problem to maintain multiple hypothesis for the state. Color and edge-based tracker can often be "distracted" causing them to track the wrong object. Many researchers have dealt with this problem by using multiple features, as it is unlikely that all will be distracted at the same time. In this paper, we improve the accuracy and robustness of real-time tracking by combining a color histogram feature with a brightness of Optical Flow-based feature under a Sequential Monte Carlo framework. And it is also excepted from Tracking as time goes on, reducing density by Adaptive Particles Number in case of the fixed object. This new framework makes two main contributions. The one is about the prediction framework which separating moving objects from fixed objects and the other is about measurement framework to get a information from the visual data under a partial occlusion.

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Implementation of Real Time Visual Servoing Control for Robot Manipulator

  • Han, Sung-Hyun;Jung, Ding-Yean;Kim, Hong-Rae;Hashmoto, Hideki
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.1650-1654
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    • 2004
  • This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

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Real Time Implementation of Visual Servoing Control For Dual-Arm Robot Manipulator

  • Han, Sung-Hyun;Kim, Jung-Soo;Kim, Hong-Rae;Hashmoto, Hideki
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.778-782
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    • 2003
  • This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

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Development of Game Environment System based on Spatial Augmented Reality using a Real Creature

  • Yun, Chang-Ok;Kim, Jung-Hoon;Jo, Jae-Ik;Yun, Tae-Soo;Lee, Dong-Hoon
    • 한국멀티미디어학회논문지
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    • 제12권6호
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    • pp.856-866
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    • 2009
  • Recent development in game technologies has offered various game environments, but the existing games have not provided realistically felt game environments because the element of the game is virtually generated in most of the games. Therefore, we propose a mixed game environment based on spatial augmented reality by using a creature that really exists. In the proposed game environment, tracking based on camera images created in real-time enables the provision of information about the real creature that is both still and moving. The game environment is presented with virtual object by using the coordinate of a real creature. Then, spatial augmented reality technology is applied for mixing a real creature and virtual game elements. Thus, the game scene is displayed by the spatial augmented reality technique based on the real-time coordinate of real creatures. Moreover, by providing the realistic game environment based on the spatial augmented reality, our system can be applied to various game contents that are actually felt as real. Most importantly, our system arouses the players' interest in a new kind of game environment.

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Pan/Tilt스테레오 카메라를 이용한 이동 물체의 강건한 시각추적 (Robust 3D visual tracking for moving object using pan/tilt stereo cameras)

  • 조지승;정병묵;최인수;노상현;임윤규
    • 한국정밀공학회지
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    • 제22권9호
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    • pp.77-84
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    • 2005
  • In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

Estimation of Moving Information for Tracking of Moving Objects

  • Park, Jong-An;Kang, Sung-Kwan;Jeong, Sang-Hwa
    • Journal of Mechanical Science and Technology
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    • 제15권3호
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    • pp.300-308
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    • 2001
  • Tracking of moving objects within video streams is a complex and time-consuming process. Large number of moving objects increases the time for computation of tracking the moving objects. Because of large computations, there are real-time processing problems in tracking of moving objects. Also, the change of environment causes errors in estimation of tracking information. In this paper, we present a new method for tracking of moving objects using optical flow motion analysis. Optical flow represents an important family of visual information processing techniques in computer vision. Segmenting an optical flow field into coherent motion groups and estimating each underlying motion are very challenging tasks when the optical flow field is projected from a scene of several moving objects independently. The problem is further complicated if the optical flow data are noisy and partially incorrect. Optical flow estimation based on regulation method is an iterative method, which is very sensitive to the noisy data. So we used the Combinatorial Hough Transform (CHT) and Voting Accumulation for finding the optimal constraint lines. To decrease the operation time, we used logical operations. Optical flow vectors of moving objects are extracted, and the moving information of objects is computed from the extracted optical flow vectors. The simulation results on the noisy test images show that the proposed method finds better flow vectors and more correctly estimates the moving information of objects in the real time video streams.

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칼만필터를 이용한 이동 목표물의 실시간 시각추적의 구현 (The Implementation of the Realtime Visual Tracking of Moving Terget by using Kalman Filter)

  • 임양남;방두열;이성철
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1996년도 춘계학술대회 논문집
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    • pp.254-258
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    • 1996
  • In this paper, we proposed realtime visual tracking system of moving object for 2D target using extended Kalman Filter Algorithm. A targeting marker are recongnized in each image frame and positions of targer object in each frame from a CCD camera while te targeting marker is attached to the tip of the SCARA robot hand. After the detection of a target coming into any position of the field-of-view, the target is tracked and always made to be located at the center of target window. Then, we can track the moving object which moved in inter-frames. The experimental results show the effectiveness of the Kalman filter algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image

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GMA 용접로봇용 용접선 시각 추적 시스템에 관한 연구 (A Study on a Visual Sensor System for Weld Seam Tracking in Robotic GMA Welding)

  • 김동호;김재웅
    • Journal of Welding and Joining
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    • 제19권2호
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    • pp.208-214
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    • 2001
  • In this study, we constructed a visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame p개cess, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data or weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam. such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.

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Visual Object Tracking based on Real-time Particle Filters

  • Lee, Dong- Hun;Jo, Yong-Gun;Kang, Hoon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.1524-1529
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    • 2005
  • Particle filter is a kind of conditional density propagation model. Its similar characteristics to both selection and mutation operator of evolutionary strategy (ES) due to its Bayesian inference rule structure, shows better performance than any other tracking algorithms. When a new object is entering the region of interest, particle filter sets which have been swarming around the existing objects have to move and track the new one instantaneously. Moreover, there is another problem that it could not track multiple objects well if they were moving away from each other after having been overlapped. To resolve reinitialization problem, we use competitive-AVQ algorithm of neural network. And we regard interfarme difference (IFD) of background images as potential field and give priority to the particles according to this IFD to track multiple objects independently. In this paper, we showed that the possibility of real-time object tracking as intelligent interfaces by simulating the deformable contour particle filters.

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