• 제목/요약/키워드: track-to-track fusion

검색결과 63건 처리시간 0.024초

순차적 칼만 필터를 적용한 다중센서 위치추정 알고리즘 실험적 검증 (Experimental Verification of Multi-Sensor Geolocation Algorithm using Sequential Kalman Filter)

  • 이성민;김영주;방효충
    • 제어로봇시스템학회논문지
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    • 제21권1호
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    • pp.7-13
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    • 2015
  • Unmanned air vehicles (UAVs) are getting popular not only as a private usage for the aerial photograph but military usage for the surveillance, reconnaissance and supply missions. For an UAV to successfully achieve these kind of missions, geolocation (localization) must be implied to track an interested target or fly by reference. In this research, we adopted multi-sensor fusion (MSF) algorithm to increase the accuracy of the geolocation and verified the algorithm using two multicopter UAVs. One UAV is equipped with an optical camera, and another UAV is equipped with an optical camera and a laser range finder. Throughout the experiment, we have obtained measurements about a fixed ground target and estimated the target position by a series of coordinate transformations and sequential Kalman filter. The result showed that the MSF has better performance in estimating target location than the case of using single sensor. Moreover, the experimental result implied that multi-sensor geolocation algorithm is able to have further improvements in localization accuracy and feasibility of other complicated applications such as moving target tracking and multiple target tracking.

공업플랜트의 상태감시를 위한 열화상 파노라마 이미지 처리기법 연구 (Panorama Image Processing for Condition Monitoring with Thermography in Power Plant)

  • 전병준;김태환;김순걸;모윤섭;김원태
    • 비파괴검사학회지
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    • 제30권2호
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    • pp.98-103
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    • 2010
  • 본 논문은 공업플랜트의 이상 발생을 작업자의 위험 부담없이 확인 및 유지보수가 용이하게 하기 위한 CCD와 열화상 이미지 처리기법에 관한 것이다. 넓은 영역의 상태 확인을 위해 카메라 대수에 상관없이 하나의 이미지로 확인을 위한 panorama 알고리즘 기법을 개발하였다. 열화상의 영상처리를 용이하도록 영상간 이미지 융합기술을 개발하였다. 실시간으로 빠른 이미지 처리를 위하여 최초 이미지를 융합하고, 이 때의 매칭 데이타를 저장하여 이후로 영상 융합시 매칭포인트와 매칭위치 검색은 생략을 하여 시간을 절약할 수 있었다.

A SHIPBOARD MULTISENSOR SOLUTION FOR THE DETECTON OF FAST MOVING SMALL SURFACE OBJECTS

  • Ko, Hanseok
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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    • pp.174-177
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    • 1995
  • Detecting a small threat object either fast moving or floating on shallow water presents a formidable challenge to shipboard sensor systems, which must determine whether or not to launch defensive weapons in a timely manner. An integrated multisensor concept is envisioned wherein the combined use of active and passive sensor is employed for the detection of short duration targets in dense ocean surface clutter to maximize detection range. The objective is to develop multisensor integration techniques that operate on detection data prior to track formation while simultaneously fusing contacts to tracks. In the system concept, detections from a low grazing angle search radar render designations to a sensor-search infrared sensor for target classification which in turn designates an active electro-optical sensor for sector search and target verification.

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자율주행 형 계단 승하강용 로봇 시스템 설계 (Design of Autonomous Stair Robot System)

  • 홍영호;김동환;임충혁
    • 제어로봇시스템학회논문지
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    • 제9권1호
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    • pp.73-81
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    • 2003
  • An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

한국의 해상풍력 현황과 발전방향에 관한 연구 (Study on Present Status and Future Direction of Korean Offshore Wind Power)

  • 성진기;이태진
    • 전기학회논문지
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    • 제62권3호
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    • pp.312-321
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    • 2013
  • In this study, we review the status of Southwest sea 2.5GW offshore wind project and expected various problems. And we suggest government policies for offshore wind industrialization. Especially, we would like to mention the necessity of offshore wind development in order to diversify power sources and guarantee energy security in Korea. And we would like to mention necessity and direction to make offshore wind into growth engine industry thorough fusion between industries and energization for the existing industry such as civil, shipbuilding, steel, etc. that was headed into downturn.

Weighted IMM 기법을 사용한 각도 추정 오차 감소 기법 (Angle Estimation Error Reduction Method Using Weighted IMM)

  • 최성희;송택렬
    • 한국군사과학기술학회지
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    • 제18권1호
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    • pp.84-92
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    • 2015
  • This paper proposes a new approach to reduce the target estimation error of the measurement angle, especially applied to the medium and long range surveillance radar. If the target has no maneuver and no change in heading direction for a certain time interval, the predicted angle of interacting multiple model(IMM) from the previous track information can be used to reduce the angle estimation error. The proposed method is simulated in 2 scenarios, a scenario with a non-maneuvering target and a scenario with a maneuvering target. The result shows that the new fusion solution(weighted IMM) with the predicted azimuth and the measured azimuth is worked properly in the two scenarios.

A Case Study on AI-Driven <DEEPMOTION> Motion Capture Technology

  • Chen Xi;Jeanhun Chung
    • International Journal of Internet, Broadcasting and Communication
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    • 제16권2호
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    • pp.87-92
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    • 2024
  • The rapid development of artificial intelligence technology in recent years is evident, from the emergence of ChatGPT to innovations like Midjourney, Stable Diffution, and the upcoming SORA text-to-video technology by OPENai. Animation capture technology, driven by the AI technology trend, is undergoing significant advancements, accelerating the progress of the animation industry. Through an analysis of the current application of DEEPMOTION, this paper explores the development direction of AI motion capture technology, analyzes issues such as errors in multi-person object motion capture, and examines the vast prospects. With the continuous advancement of AI technology, the ability to recognize and track complex movements and expressions faster and more accurately, reduce human errors, enhance processing speed and efficiency. This advancement lowers technological barriers and accelerates the fusion of virtual and real worlds.

Autonomous Omni-Directional Cleaning Robot System Design

  • Choi, Jun-Yong;Ock, Seung-Ho;Kim, San;Kim, Dong-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.2019-2023
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    • 2005
  • In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

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FINGERPRINT IMAGE DENOISING AND INPAINTING USING CONVOLUTIONAL NEURAL NETWORK

  • BAE, JUNGYOON;CHOI, HAN-SOO;KIM, SUJIN;KANG, MYUNGJOO
    • Journal of the Korean Society for Industrial and Applied Mathematics
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    • 제24권4호
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    • pp.363-374
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    • 2020
  • Fingerprint authentication identifies a user based on the individual's unique fingerprint features. Fingerprint authentication methods are used in various real-life devices because they are convenient and safe and there is no risk of leakage, loss, or oblivion. However, fingerprint authentication methods are often ineffective when there is contamination of the given image through wet, dirty, dry, or wounded fingers. In this paper, a method is proposed to remove noise from fingerprint images using a convolutional neural network. The proposed model was verified using the dataset from the ChaLearn LAP Inpainting Competition Track 3-Fingerprint Denoising and Inpainting, ECCV 2018. It was demonstrated that the model proposed in this paper obtains better results with respect to the methods that achieved high performances in the competition.

사례연구: PBL기반 보건의료 데이터 사이언스 특성화교육과 학습성과 (Case Study: PBL-Driven Healthcare Data Science Specialization and Learning Performance)

  • 박화규;김종호
    • 한국IT서비스학회지
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    • 제22권1호
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    • pp.1-14
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    • 2023
  • This paper aims to share the course, performance and implications of Project-Based Learning (PBL) education in healthcare data science (HDS). The HDS team of the business group of Soonchunhyang University, which was selected for the health care field of 'University Innovation Project', considered that the health care IT-based education of the current university differs greatly from the rapidly changing health care 3.0 environment of the fourth industry, and emphasized the PBL practice-oriented specialization program as a learning model. The PBL focused on self-directed learning experiences, real analysis problems, and team-oriented classes. In other words, it was implemented with three specialized strategies: 'Field Inside Education', 'Fusion-type Track Education', and 'Training to strengthen resilience and change response'. This collaborative, practical learning experience, etc. resulted in significant results. The results were recognized as being rated A by the Korea Research Foundation and the comprehensive evaluation, and the results were significantly elevated through the analysis of the student survey and the results index.