• Journal of the Korean Society for Precision Engineering
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• v.15 no.7
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• pp.175-181
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• 1998

This paper describes realtime visual tracking system of moving object for three dimensional target using EKF(Extended Kalman Filter). We present a new realtime visual tracking using EKF algorithm and image prediction algorithm. We demonstrate the performance of these tracking algorithm through real experiment. The experimental results show the effectiveness of the EKF algorithm and image prediction 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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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

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.110-113
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• 2003

In this paper, the multi-channel high speed data acquisition system is implemented. This high speed signal processing system for 3-D image display is applicable to the manipulation of a medical image processing, multimedia data and various fields of digital image processing. In order to convert the analog signal into digital one, A/D conversion circuit is designed. PCI interface method is designed and implemented, which is capable of transmission a large amount of data to computer. In order to, especially, channel extendibility of images acquisition, bus communication method is selected. By using this bus method, we can interface each module effectively. In this paper, 32-channel A/D conversion and PCI interface system for 3-dimensional and real-time display of the retina image is developed. The 32-channel image acquisition system and high speed data transmission system developed in this paper is applicable to not only medical image processing as 3-D representation of retina image but also various fields of industrial image processing in which the multi-point realtime image acquisition system is needed.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.1227-1230
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• 1998

Phase control methods are used to expand the sound image in general AV system. However, these methods are effective only to the signal under 1kHz, and the listener must be located in front center of the speaker system. In this paper, we realize the realtime processing system in which phase shifting method is dominant at low frequency and precedence effect is dominant at high frequency. Two sound cards are used to process the audio signal in realtime with 16 bits stereo channel of 44.1 kHz sampling frequency. And the analog circuit is designed to process the phase shifting. In experiments the usefulness of the proposed stereo system is confirmed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.119-122
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• 2007

In this paper, we propose the method of hardware-design for the division operation of image frame-unit processing in mobile phone camera. Generally, there are two types of the data processing, which are the parallel and serial type. The parallel type makes it possible to process in realtime, but it needs significant hardware size due to many comparators and buffer memories. Compare the serial type with the parallel type, the hardware size of the serial type is smaller than the other because it uses only one comparator, but serial type is not able to process in realtime. To use the hardware resources efficiently, we employ the serial divider since frame-unit operation for image processing does not need realtime process. When compared with both in the same bit size and operating frequency, the hardware size of the serial divider is approximately in the ratio of 13 percentage compared with the parallel divider.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.3
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• pp.35-45
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• 2008

Realtime visibility measurement using camera is a new method which can collect some realtime visibility data similar to those of the human eyes, and can replace the existing methods using the expensive optical equipment. There have been a few attempts to measure visibility by extracting depth and three-dimensional structure under bad weather conditions. However, if there are many movements of objects in the image, these approaches seem to be inappropriate. In addition, the realtime visibility measurement will require a relatively simple and fast processing. Typically the contrast degrades exponentially in the bad weather. Therefore, in this paper we propose an easy and quick method that extract contrast from images using a moving area filter and measure visibility by mathematically modelling of the relationship between image contrast and visibility. The moving area filter is used for removing the area of the sky and moving objects that affect visibility measurement on images. The method proposed here can make possible not only realtime visibility measurement from images taken by CCD cameras, but also steady visibility measurement by using the moving area filter in case of much traffic on the road.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.947-948
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• 2008

Recently, many efforts have been made for research and application of object tracking system. However, introduced object tracking algorithms have limitations to adopt a realtime object tracking system with multi camera. In this paper, we present a novel background generation and target object recognition algorithm for realtime object tracking system with multi camera and implemented it.

• Proceedings of the KSRS Conference
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• 1999.11a
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• pp.80-83
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• 1999

An efficient modeling and management of a large amount of surface data for a wide rage of geographic information play an important role in determining the functionality of 3D geographic information system. It has been put many efforts to design and manage an effective way to enhence the manipulation of the data by considering geometry type and data structures. Recently, DEM(Data Elevation Model) and TIN(Triangulated Irregular Network) are used for representing surface data. In this paper, we propose a 3D data processing method. The method utilizes the major properties of DEM and TIN, respectively. Furthermore, by approximating DEM with a TIN of an appropriate resolution, we can support a fast and realistic surface modeling. We implement the structure with the following 4 level stages. The first is an optimal resolution of DEM which represent all of wide range of geographic data. The second is the full resolution DEM which is a subarea of original data generated by user's selection in our implemeatation. The third is the TIN approximation of this data with a proper resolution determined by the relative position with the camera. And the last step is multi-resolution TIN data whose resolution is dynamically decided by considering which direction user take notice currently. Specially, the TIN of the last step is designed for realtime camera navigation. By using the structure we implemented realtime surface clipping, efficient approximation of height field and the locally detailed surface LOD(Level of Detail). We used the initial 10-meter sampling DEM data of Seoul, KOREA and implement the structure to the 3D Virtual GIS based on the Internet.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 1999.12a
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• pp.66-71
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• 1999

For given 3D geographic data which is usually of DEM(Data Elevation Model) format, we have to represent and manipulate the data in various ways. For example, we have to draw a part of them in drawing canvas. To do this we give users a way of selecting area they want to visualize. And we have to give a base tool for users to select the local area which can be chosen for some geographic operation. In this paper, we propose a 3D data processing method for representation and manipulation. The method utilizes the major properties of DEM and TIN(Triangular Irregular Network), respectively. Furthermore, by approximating DEM with a TIN of an appropriate resolution, we can support a fast and realistic surface modeling. We implement the structure with the following 4 level stages. The first is an optimal resolution of DEM which represent all of wide range of geographic data. The second is the full resolution DEM which is a subarea of original data generated by user's selection in our implemeatation. The third is the TIN approximation of this data with a proper resolution determined by the relative position with the camera. And the last step is multi-resolution TIN data whose resolution is dynamically decided by considering which direction user take notice currently. Specialty, the TIN of the last step is designed for realtime camera navigation. By using the structure we implemented realtime surface clipping, efficient approximation of height field and the locally detailed surface LOD(Level of Detail). We used the initial 10-meter sampling DEM data of Seoul, KOREA and implement the structure to the 3D Virtual GIS based on the Internet.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.878-886
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• 2012

This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV's hovering on top of ground target within about several meters under geenral windy environment.