크기 변화에 적응적인 비정형 객체 추적을 위한 연구

변정현(Byun, Jung-Hyun),채승호(Chae, Seung-Ho),최희승(Choi, Hee-seung),한탁돈(Han, Tak-Don) 한국HCI학회 2016 한국HCI학회 학술대회 Vol.2016 No.1

컴퓨터 비전 연구에서 객체 추적은 활발히 연구되는 주제 중 하나이다. 기존의 객체 추적 연구는 이미지 매칭 기반으로 대상을 추적하는 방식이 많이 이용하기 때문에 주로 정형 객체 추적(rigid tracking) 에 집중한다. 이와 달리 tracking-by-detection 방법은 추적 문제를 분류기를 이용한 검출 문제처럼 다루기 때문에 비정형 객체 추적(non-rigid tracking)을 수행하는데 효과적이다. 본 논문에서는 이러한 tracking-by-detection 방법 중 하나로 structured output Support Vector Machine(SVM) 을 활용하는 Struck [1]의 분석하고 보완하는 연구를 진행하였다. Struck 은 일반적인 상황에서는 우수한 추적 성능을 보여주지만 크기 변화에 대응할 수 없고, 가림 현상이 일어나 추적 대상이 화면에 보이지 않을 때도 무조건 학습을 진행한다. 따라서 background clutter 와 잘못된 학습으로 인해 추적과 학습에 drift 가 일어날 수 있다. 본 연구에서는 이러한 Struck 의 단점을 보완하기 위해 추적 대상의 크기에 맞춰 추적 상자의 크기를 조절해 background clutter 를 방지하고 크기변화에 대응하는 scale-adaptive tracking 방법을 제안한다. 후속 연구로는 SVM 의 평가 함수 점수의 임계값을 이용하는 F score with threshold 방법을 이용하여 대상이 가려졌는지 여부를 확인해 잘못된 학습을 방지할 수 있다는 것을 보여준다. 또한 이러한 비정형 객체 추적을 활용할 수 있는 응용분야를 제시하고자 한다. Object tracking is one of many popular topics in computer vision literature. Previous object tracking studies mainly utilized image-matching based tracking method so that they focus on rigid tracking. Tracking-by-detection on the other hand treats a tracking problem as a detection problem using a classifier making it more suitable for non-rigid tracking. In this paper, we conducted the study analyzing and complementing Struck [1], a tracking-by-detection method that utilizes the structured output SVM. Struck shows good tracking performance in normal occasions; however, it can suffer drift from background clutter since it cannot cope with scale change and from occlusion since it forces learning even though there is no object presence in the scene. In this paper, to solve these issues for Struck, we propose “scale-adaptive tracking” method that automatically adjusts the size of the bounding box according to that of the object. As a future work, we propose “F score with threshold” method that can detect occlusion and prevents SVM from false-positive learning. Also, we propose various applications for non-rigid tracking.

추적레이다의 표적 탐지 및 추적 기술 동향

신한섭(Han-Seop Shin),최지환(Jee-Hwan Choi),김대오(Dae-Oh Kim),김태형(Tae-Hyung Kim) 한국항공우주연구원 2009 항공우주산업기술동향 Vol.7 No.1

In this paper, we described the model of noise, target for tracking radar and range tracking, angle tracking, and Doppler frequency tracking for target acquisition and tracking. Target signal as well as the noise signal is modeled as random process varying with elapsed time. This paper addresses three areas of radar target tracking: range tracking, angle tracking, and Doppler frequency tracking. In general, range tracking is prerequisite to and inherent in both angle and Doppler frequency tracking systems. First, we introduced the several range tracking and described techniques for achieving range tracking. Second, we described the radar angle tracking techniques including conical scan, sequential lobing, and monopulse. Finally, we presented concepts and techniques for Doppler frequency tracking for several radar types.

Dual UWB Anchors-Based Target Tracking Strategy for an Omnidirectional Mobile Robot

Le Bao,Wenbin Dong,Wenqi Li,Kyoosik Shin,Changsoo Han,Wansoo Kim 제어로봇시스템학회 2024 제어로봇시스템학회 국제학술대회 논문집 Vol.2024 No.10

Target tracking mobile robots still face challenges in terms of localization accuracy and tracking performance. This study presents a novel target tracking strategy for an omnidirectional mobile robot by using dual ultra-wideband (UWB) anchors. The proposed target tracking strategy integrates these sensors with a Mecanum wheeled mobile platform, optimizing motion control and target tracking. Based on the developed dual UWB anchors’ geometric localization model, the horizontal relative distance and orientation between the target and the robot were estimated. In tracking scenarios, the robot demonstrates advanced adaptability: While the target is at close-range, the robot rotates in place for orientation tracking to directly face the target, and the designed tracking algorithm allows the robot to dynamically adjust its rotation speed, resulting in smooth tracking movements. While the target is at longer-range, the robot dynamically modifies its tracking speed and orientation according to relative positional data, to ensure effective and continuous target following. Through experimental validation, the lateral error during target tracking is reduced, the tracking accuracy is improved by 50% compared to existing related studies, and the tracking performance is smoother.

Hand Tracking을 이용한 가상현실 전시관과 상호작용 콘텐츠 제작

신승훈(Shin, Seunghun),임수연(Lim, Sooyeon) 한국전시산업융합연구원 2021 한국과학예술융합학회 Vol.39 No.5

핸드트래킹은 마이런크루거의 미디어 파사드 형식으로 영상을 기초한 인공현실 개념을 적용한 비디오 플레이스와 제런레니어의 3D 그래픽을 적용한 가상현실 개념의 데이터 글러브와 HMD를 통해 사용자에게 널리 알려지게 되었다. 키넥트, 립모션 등 카메라와 심도 검출이 가능한 장비를 통해 더욱더 정교한 손동작을 컴퓨터 가상환경에 적용할 수 있게 되었고, 현재 오큘러스 퀘스트 등 가상현실 기구에 적용되면서 사용자와 가상현실을 직관적으로 연결하기 위한 인터페이스로 사용되고 있다. 가상현실 사용환경 발전으로 전시환경을 위한 다양한 시도가 이루어졌지만, 아티스트 기술한계와 사용자 진입장벽, 기구의 성능과 콘텐츠 다양성 등 다양한 문제로 가상현실은 예술 소재 활용에 한계가 있었다. 본 논문은 이런 콘텐츠 다양성 한계를 극복하기 위해 시작되었다. 본 연구의 목적은 가상현실을 사용자가 더쉽게 이해하고 경험할 수 있는 실제 전시관인 ‘대구미술관 어미홀’을 핸드트래킹을 이용한 가상현실 전시관과 작품을 제작하고 평가하는 것이다. 따라서 본 논문은 핸드트래킹 활용의 정당성을 확인하기 위해 가상현실 기술을 살펴보고 가상현실 사용환경과 인터페이스가 어떻게 발전하는지 확인하는 것이다. 콘텐츠 환경 중 핸드트래킹을 활용한 콘텐츠 보급상황을 확인하였다. 연구결과 및 내용은 다음과 같다. 첫째, 가상현실은 3D그래픽 환경과 핸드트래킹을 활용한 환경으로 발전하고 있음을 확인하였다. 둘째, 핸드트래킹을 활용한 전시환경과 콘텐츠는 부족하다. 셋째, 제작 콘텐츠 평가결과 핸드트래킹을 이용한 가상현실 전시관과 콘텐츠는 평가자에게 입체감과 현장감, 입체음 경험을 제공하였다. 넷째, 평가자는 핸드트래킹을 통해 직관적으로 콘텐츠와 상호작용하고 전시 관람을 할 수 있고 작품을 이해하였다. 이러한 연구를 바탕으로 핸드트래킹을 이용한 전시콘텐츠와 환경이 사용자에게 더욱 보급되고 더 나가 여러 사용자가 동시에 사용할 수 있는 핸드트래킹을 활용한 다중접속 전시 플랫폼 연구가 필요하다. Hand tracking has become widely known to users through video places applying the concept of artificial reality based on images in the form of Myron Krueger’s media facade and data gloves and HMD of virtual reality concepts applying Jaron Lanier’s 3D graphics. Through equipment capable of depth sensing with cameras such as Kinect and LipMotion, more sophisticated Hand Tracking can be applied to computer virtual environments, and are currently applied to virtual reality devices such as OculusQuest and is used as an interface to intuitively connect users and virtual reality. Various attempts have been made for the exhibition environment due to the development of the virtual reality use environment, but virtual reality has limitations in using art materials due to various problems such as artist technology limitations, user entry barriers, and device performance and content diversity. This paper was initiated to overcome these limitations of content diversity. The purpose of this study is to produce and evaluate virtual reality exhibition halls and works using hand tracking at the Daegu Museum of Art’s Mother Hall, an actual exhibition hall where users can understand and experience virtual reality more easily. Therefore, this paper examines virtual reality technology to confirm the legitimacy of the use of Hand Tracking and confirms how the virtual reality use environment and interface develop. The content distribution status using hand tracking among the content environments was confirmed. The research results and contents are as follows. First, it was confirmed that virtual reality is developing into a 3D graphic environment and an environment using hand tracking. Second, the exhibition environment and content using hand tracking are insufficient. Third, as a result of the production content evaluation, the virtual reality exhibition hall and content using hand tracking provided the evaluator with a three-dimensional feeling, realism, and three-dimensional sound experience. Fourth, evaluators can intuitively interact with content and watch exhibitions through hand tracking and understand works. Based on these studies, it is necessary to study a multi-access exhibition platform using hand tracking that can be used by multiple users at the same time as exhibition content and environment using hand tracking are further spread to users.

온라인 트래킹에 대한 소비자 인식과 정책적 시사점

이진명 ( Lee Jin Myong ),나종연 ( Rha Jong Youn ),김지혜 ( Kim Jihye ),박서니 ( Park Sunny ),이보한 ( Lee Bohan ),조은선 ( Cho Eunsun ) 한국소비자학회 2018 소비자학연구 Vol.29 No.2

Online tracking, which refers to practices that collect, store, and utilize behavioral information about consumers online, is essential to develop personalized and customized services. Rapid advances in tracking technology may provide considerable convenience and benefits to the consumer. However, consumers’ privacy concerns and actual security risks may have increased since it has become increasingly difficult to know how information about individuals is traded, aggregated, and utilized. Therefore, protecting consumer privacy is a subject that should be studied and discussed more deeply in the changing market environment. This study aims to analyze the perceptions and response to online tracking of Koreans, to draw up policy implications to protect consumers from online tracking, and to provide a basis for a cooperative dialogue between the government, corporations, and consumers so consumer privacy can be adequately protected. For this purpose, focus group interviews were conducted with 20 participants on June 2-3, 2017. Online surveys were also conducted to verify the validity and objectivity of the results of the qualitative research. A total of 645 completed responses were collected from June 30 to July 4, 2017. The major results and implications of this study are summarized as follows. First, consumers were not clearly aware of what information about themselves is being tracked and used by whom, where, and for what purpose. To develop and expand online tracking, consumer information must be utilized. Therefore, it is required to improve the perception and understanding of consumers about the concept, mechanism, and influence of online tracking. Second, consumers are emotionally and behaviorally negative about online tracking and intend to actively block online tracking by using ad-block software or by deleting cookies. This result suggests that it is necessary to reduce the perceived risk and anxiety of consumers about online tracking through efforts such as protecting consumer privacy and ensuring the right to control their personal information. Third, consumers regarded the right of choice and control as the basic principle of personal information in online tracking and as very important. However, they recognized that these rights were not really guaranteed and would be formal, even if guaranteed. Therefore, it is necessary to find an effective way to overcome consumers’ powerlessness about privacy protection and to strengthen their rights to control what and how information is used. In addition, considering the privacy paradox, it is necessary to discuss how to reflect consumers' preferences without demanding too much effort from them. Fourth, when setting up online tracking, consumers prefer to configure privacy preferences in the browser rather than going to individual sites, to opt-in rather than opt-out, legal and policy regulation rather than self-regulation, and pre-regulation rather than post-regulation. The policy for consumer protection from online tracking should not be too loose to infringe the interests of consumers, but it should not hinder the innovation of the industry by becoming a new entry barriers. Therefore, it is necessary to consider proper harmony between consumer protection and industrial innovation in preparing online tracking policy.

Electromagnetic Detection and Real-Time DMLC Adaptation to Target Rotation During Radiotherapy

Wu, Junqing,Ruan, Dan,Cho, Byungchul,Sawant, Amit,Petersen, Jay,Newell, Laurence J.,Cattell, Herbert,Keall, Paul J. Elsevier 2012 International journal of radiation oncology, biolo Vol.82 No.3

<P><B>Purpose</B></P> <P>Intrafraction rotation of more than 45° and 25° has been observed for lung and prostate tumors, respectively. Such rotation is not routinely adapted to during current radiotherapy, which may compromise tumor dose coverage. The aim of the study was to investigate the geometric and dosimetric performance of an electromagnetically guided real-time dynamic multileaf collimator (DMLC) tracking system to adapt to intrafractional tumor rotation.</P> <P><B>Materials/Methods</B></P> <P>Target rotation was provided by changing the treatment couch angle. The target rotation was measured by a research Calypso system integrated with a real-time DMLC tracking system employed on a Varian linac. The geometric beam-target rotational alignment difference was measured using electronic portal images. The dosimetric accuracy was quantified using a two-dimensional ion chamber array. For each beam, the following five delivery modes were tested: 1) nonrotated target (reference); 2) fixed rotated target with tracking; 3) fixed rotated target without tracking; 4) actively rotating target with tracking; and 5) actively rotating target without tracking. Dosimetric performance of the latter four modes was measured and compared to the reference dose distribution using a 3 mm/3% γ-test.</P> <P><B>Results</B></P> <P>Geometrically, the beam-target rotational alignment difference was 0.3° ± 0.6° for fixed rotation and 0.3° ± 1.3° for active rotation. Dosimetrically, the average failure rate for the γ-test for a fixed rotated target was 11% with tracking and 36% without tracking. The average failure rate for an actively rotating target was 9% with tracking and 35% without tracking.</P> <P><B>Conclusions</B></P> <P>For the first time, real-time target rotation has been accurately detected and adapted to during radiation delivery via DMLC tracking. The beam-target rotational alignment difference was mostly within 1°. Dose distributions to fixed and actively rotating targets with DMLC tracking were significantly superior to those without tracking.</P>

정보통신기기의 위치추적에 대한 헌법적 통제에 관한 소고

이상경 헌법재판연구원 2019 헌법재판연구 Vol.6 No.1

Recently, a so-called Location-Based Service (LBS) has been activated using geographical location information, which can lead to various constitutional problems as well as various beneficial services. In particular, there is a great deal of concern about infringement of fundamental rights in using such location information for investigation purposes. The conflicts occur between the basic rights, especially securing freedom of communication, privacy, protection of personal information, and the investigatory utilization of location information. Therefore, this paper discusses the key issues related to location tracking, which are currently in question, in the following three categories. First, this paper discusses the sorts of location information tracking methods, the second, tracking cell-site location information, and the third, tracking real time GPS location information. In addition to these discussions, this paper examines whether investigatory use of location information infringes search warrant, freedom of communication, and right to self -determination of personal information. Use of location information can be largely classified into tracking of cell-site location information and GPS location tracking. The cell-site location information tracking can be divided into two again. The first is a location tracking method through the use of mobile information and communication equipment, which is related to the request of the communication confirmation fact data in the recent constitutional case. The second is a form in which communication history and location information of all communication subscribers existing in a specific base station are collectively. The following is the tracking of GPS location information. The tracking of such GPS location information can be further divided into two. First, there is a way to continuously track by attaching a location tracking device. Second, there is a method of tracking real time GPS location information using a virtual cell-site location, namely, a cell-site simulator. Since tracking real time GPS location information is directly related to the privacy, freedom of communication, and right to self-determination of personal information, this papers suggests that search warrant issued by courts be strictly needed for investigatory use of real time GPS location information. 최근 개인의 위치정보(Location Information)를 활용하는 소위 “위치기반서비스(Location-Based Service)”가 활성화되었다. 이러한 위치정보의 활용은 다양한 편의를 제공함에도 불구하고 여러 가지 헌법적 문제를 발생시킨다. 특히 국가가 개인의 위치정보를 수사목적으로 활용하는 경우, 정보주체의 통신비밀, 사생활의 비밀 및 개인정보 등의 침해를 야기할 수 있다. 따라서 본 논문은 현재 문제 되고있는 위치추적과 관련된 핵심 쟁점을 다음 3가지로 구분하여 논의한다. 먼저 정보통신기기의 위치추적의 종류를 논의하고, 두 번째로 발신기지국 위치추적, 세 번째로 실시간 GPS위치정보 추적에 관해 순서대로 논의한다. 이러한 논의와 더불어 위치추적의 헌법적 통제문제로서 영장주의, 통신비밀의 보장 및 개인정보자기결정권 등 침해 여부에 관해 검토한다. 위치정보를 수사목적으로 활용하는 방법은 다양하다. 크게는 발신기지국 위치정보 추적과 실시간 GPS위치정보의 추적으로 구별할 수 있다. 발신기지국 위치정보 추적은 다시 2가지로 구별될 수 있다. 첫째는 이동정보통신기기의 사용을 통한 위치추적 방법으로 과거의 발신기지국 접속 정보를 통한 위치추적-우리의 경우 통신확인사실자료의 요청과 관련된 부분-이다. 둘째는 특정한 기지국 내에 존재하는 모든 통신 가입자들에 대한 통신내역과 위치정보를 일괄 제공받는 형태-소위. ‘기지국 수사’-의 위치정보 추적이다. 우리나라 헌법재판소와 미국의 연방법원의 판례를 통해 발신기지국 위치정보의 추적에 관한 헌법적 통제문제를 살펴본다. 다음은 실시간 GPS위치정보의 추적이다. GPS위치정보는 인공위성과 GPS장치 부착 단말기 사이를 신호가 이동하는 시간을 측정하여 단말기의 위치가 파악되는 것으로써, 기술적인 수단이나 추적범위, 추적의 용이성 등의 측면에서 ‘발신기지국 위치정보’와 구별된다. 실시간 GPS위치정보의 추적도 다시 2가지로 구별될 수 있다. 첫째는 GPS위치추적 장치를 부착하여 지속적으로 실시간 추적하는 방법이고, 둘째는 가상기지국을 이용한 실시간 GPS위치정보의 추적방법이다. 실시간 GPS위치정보의 활용은 명문의 근거 법률이 없다는 점에서 법률유보 위반 문제와 사생활의 비밀과 자유 등 침해문제를 야기하므로, 활용에 대한 법적 근거를 마련하되 법원의 영장주의를 요건으로 하는 등 엄격하게 인정되어야 한다. 이와 관련된 미국 연방법원의 판례를 고찰함으로써 우리에게 필요한 시사점을 얻고자 한다.

유전자 알고리즘을 이용한 트랙킹 진동량 추정 시스템

진경복,이문노 한국반도체디스플레이기술학회 2011 반도체디스플레이기술학회지 Vol.10 No.2

This paper presents a tracking vibration estimation system of the track-following system using a tracking loop gain adjustment algorithm and a genetic algorithm. The algorithms are introduced to estimate accurately the tracking vibration quantity in spite of the uncertainties of the tracking actuator. An estimated actuator model can be found by applying a genetic algorithm. Accordingly, the tracking vibration quantity can be estimated from the measured tracking error, the tracking controller and the estimated actuator model. The proposed tracking vibration estimation method is applied to the track-following system of an optical recording device and is evaluated through the experimental result.

Depth tracking of occluded ships based on SIFT feature matching

Yadong Liu,Yuesheng Liu,Ziyang Zhong,Yang Chen,Jinfeng Xia,Yunjie Chen 한국인터넷정보학회 2023 KSII Transactions on Internet and Information Syst Vol.17 No.4

Multi-target tracking based on the detector is a very hot and important research topic in target tracking. It mainly includes two closely related processes, namely target detection and target tracking. Where target detection is responsible for detecting the exact position of the target, while target tracking monitors the temporal and spatial changes of the target. With the improvement of the detector, the tracking performance has reached a new level. The problem that always exists in the research of target tracking is the problem that occurs again after the target is occluded during tracking. Based on this question, this paper proposes a DeepSORT model based on SIFT features to improve ship tracking. Unlike previous feature extraction networks, SIFT algorithm does not require the characteristics of pre-training learning objectives and can be used in ship tracking quickly. At the same time, we improve and test the matching method of our model to find a balance between tracking accuracy and tracking speed. Experiments show that the model can get more ideal results.

Robust visual tracking based on global-and-local search with confidence reliability estimation

Fang, Yang,Ko, Seunghyun,Jo, Geun-Sik Elsevier 2019 Neurocomputing Vol.367 No.-

<P><B>Abstract</B></P> <P>Visual object tracking is an open and challenging problem, an online tracker must be able to keep track of the target object for a long time period even in complex scenarios, such as target drift and background occlusion. Discriminative correlation filters (DCF) have shown excellent performance in short-term target tracking problems thanks to their circular dense sampling mechanism and fast computation with a discrete Fourier transform. However, they tend to drift from the target when the target encounters drastic deformation, fast motion, or background occlusion. This can result in a bad model update since the tracker searches the target in a local region centered at the position where target was located in the previous frame. There is no recovery mechanism for target re-identification and re-location. To handle this issue, this paper proposes a global-and-local-search technique that applies a DCF-based tracking model with a novel target-aware detector in a collaborative way. Our tracking model performs the local search process with high tracking confidence, and the target-aware detector is executed to re-identify and locate the target via global search from the entire frame when the model instability and confidence fluctuation are detected by proposed tracking system. Additionally, we designed an enhanced peak-to-sidelobe ratio (EPSR) for confidence estimation, which indicates system instability and fluctuation degree. Thus, the local tracking model and target-aware detector are collaboratively applied for both final target state estimation and online model updates. This not only avoids model corruption from bad updates, but also prevents our tracker from drifting problems for long-term tracking. Experiments on OTB-100 and VOT2016 benchmarks demonstrate that the proposed tracking method achieves state-of-the-art tracking performance in terms of accuracy and robustness, with 22 fps tracking speed (close to realtime) run on a single GPU.</P>