• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.579-582
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• 1995

Recently, the vision system has the wide and growing' application field on account of the vast information from that visual mechanism. Especially, in the control field, the vision system has been applied to the industrial robot. In this paper, the object tracking and grasping task is accomplished by the robot vision system with a camera in the robot hand. The camera setting method is proposed to implement that task in a simple way. In spite of the calibration error, the stable grasping task is achieved using the tracking control algorithm based on the vision feature.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Journal of Electrical Engineering and Technology
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• 제8권2호
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• 한국정보통신학회논문지
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• 제19권2호
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• pp.435-442
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• 2015

본 논문에서는 지능형 다중 화상감시시스템에 응용할 수 있는 움직이는 물체 추적 및 보행자/차량 인식 방법을 제안한다. 지능형 다중 화상감시시스템은 다수의 고정형 카메라와 한 대의 PTZ 카메라로 구성되며, 고정형 카메라에서 검출된 움직이는 물체들을 PTZ 카메라로 팬/틸트/줌 제어하고, 보행자인지 또는 차량인지를 자동으로 인식한다. 넓은 영역을 감시하는 고정된 카메라에서 검출된 물체는 너무 작고, 변별력이 떨어지는 문제가 있다. 이러한 문제를 극복하기 위해 PTZ 카메라를 통한 특정 움직이는 물체를 팬/틸트/줌인 제어함으로써 움직이는 물체의 변별력과 감시성능을 높일 수 있다. 제안된 시스템은 움직이는 물체를 추적하는 기능 외에 SVM 학습알고리즘을 이용하여 검출된 물체가 보행자 또는 차량인지를 판단할 수도 있다. 그리고 추적에러를 줄이기 위해 기존의 고정된 카메라와 PTZ 카메라간의 캘리브레이션 방법을 개선한다. 다양한 실험결과를 통하여 제안한 시스템의 효용성을 입증하였다.

• Journal of Information Processing Systems
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• 제18권3호
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• pp.359-373
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• 2022

The new crown pneumonia (COVID-19) has become a global epidemic. The disease has spread to most countries and poses a challenge to the healthcare system. Contact tracing technology is an effective way for public health to deal with diseases. Many experts have studied traditional contact tracing and developed digital contact tracking. In order to better understand the field of contact tracking, it is necessary to analyze the development of contact tracking in the field of computer science by bibliometrics. The purpose of this research is to use literature statistics and topic analysis to characterize the research literature of contact tracking in the field of computer science, to gain an in-depth understanding of the literature development status of contact tracking and the trend of hot topics over the past decade. In order to achieve the aforementioned goals, we conducted a bibliometric study in this paper. The study uses data collected from the Scopus database. Which contains more than 10,000 articles, including more than 2,000 in the field of computer science. For popular trends, we use VOSviewer for visual analysis. The number of contact tracking documents published annually in the computer field is increasing. At present, there are 200 to 300 papers published in the field of computer science each year, and the number of uncited papers is relatively small. Through the visual analysis of the paper, we found that the hot topic of contact tracking has changed from the past "mathematical model," "biological model," and "algorithm" to the current "digital contact tracking," "privacy," and "mobile application" and other topics. Contact tracking is currently a hot research topic. By selecting the most cited papers, we can display high-quality literature in contact tracking and characterize the development trend of the entire field through topic analysis. This is useful for students and researchers new to field of contact tracking ai well as for presenting our results to other subjects. Especially when comprehensive research cannot be conducted due to time constraints or lack of precise research questions, our research analysis can provide value for it.

• ETRI Journal
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• 제39권2호
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• pp.151-162
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• 2017

With the remarkable growth in rich media in recent years, people are increasingly exposed to visual information from the environment. Visual information continues to play a vital role in rich media because people's real interests lie in dynamic information. This paper proposes a novel discrete dynamic swarm optimization (DDSO) algorithm for video object tracking using invariant features. The proposed approach is designed to track objects more robustly than other traditional algorithms in terms of illumination changes, background noise, and occlusions. DDSO is integrated with a matching procedure to eliminate inappropriate feature points geographically. The proposed novel fitness function can aid in excluding the influence of some noisy mismatched feature points. The test results showed that our approach can overcome changes in illumination, background noise, and occlusions more effectively than other traditional methods, including color-tracking and invariant feature-tracking methods.

• Journal of Advanced Marine Engineering and Technology
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• 제29권5호
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• pp.560-570
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• 2005

In this paper, we discuss the tracking system for a wheelchair which can follow the path of a human target such as a nurse in hospital. The problem of human tracking is that it requires recognition of feature as well as the tracking of human positions. For this purpose the use of a high cost visual sensor such as laser finder or streo camera makes the tracking a high cost additional expense. This paper proposes the tracking system uses a low cost infrared range-finder and CCD camera, The Infrared range-finder and CCD camera can create a target candidate through each target recognition algorithm. and this information is fused in order to reduce the uncertainties of a target decision and correct the positional error of the human. The effectiveness of the proposed system is verified through experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권4호
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• pp.2094-2112
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• 2019

Focusing on the issue that the conventional Kernel Correlation Filter (KCF) algorithm has poor performance in handling scale change and obscured objects, this paper proposes an anti-occlusion and scale adaptive tracking algorithm in the basis of KCF. The average Peak-to Correlation Energy and the peak value of correlation filtering response are used as the confidence indexes to determine whether the target is obscured. In the case of non-occlusion, we modify the searching scheme of the KCF. Instead of searching for a target with a fixed sample size, we search for the target area with multiple scales and then resize it into the sample size to compare with the learnt model. The scale factor with the maximum filter response is the best target scaling and is updated as the optimal scale for the following tracking. Once occlusion is detected, the model updating and scale updating are stopped. Experiments have been conducted on the OTB benchmark video sequences for compassion with other state-of-the-art tracking methods. The results demonstrate the proposed method can effectively improve the tracking success rate and the accuracy in the cases of scale change and occlusion, and meanwhile ensure a real-time performance.

• ETRI Journal
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• 제43권4호
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• pp.617-629
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• 2021

Although the actual visual simultaneous localization and mapping (SLAM) algorithms provide highly accurate tracking and mapping, most algorithms are too heavy to run live on embedded devices. In addition, the maps they produce are often unsuitable for path planning. To mitigate these issues, we propose a completely closed-loop online dense RGB-D SLAM algorithm targeting autonomous indoor mobile robot navigation tasks. The proposed algorithm runs live on an NVIDIA Jetson board embedded on a two-wheel differential-drive robot. It exhibits lightweight three-dimensional mapping, room-scale consistency, accurate pose tracking, and robustness to moving objects. Further, we introduce a navigation strategy based on the proposed algorithm. Experimental results demonstrate the robustness of the proposed SLAM algorithm, its computational efficiency, and its benefits for on-the-fly navigation while mapping.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권11호
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• pp.5496-5521
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• 2018

Object detection and tracking is the basic capability of mobile robots to achieve natural human-robot interaction. In this paper, an object tracking system of mobile robot is designed and validated using improved multiple instance learning algorithm. The improved multiple instance learning algorithm which prevents model drift significantly. Secondly, in order to improve the capability of classifiers, an active sample selection strategy is proposed by optimizing a bag Fisher information function instead of the bag likelihood function, which dynamically chooses most discriminative samples for classifier training. Furthermore, we integrate the co-training criterion into algorithm to update the appearance model accurately and avoid error accumulation. Finally, we evaluate our system on challenging sequences and an indoor environment in a laboratory. And the experiment results demonstrate that the proposed methods can stably and robustly track moving object.