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분산다중센서로 구현된 지능화공간의 색상정보를 이용한 실시간 물체추적
Real-Time Objects Tracking using Color Configuration in Intelligent Space with Distributed Multi-Vision

진태석    (동서대학교 메카트로닉스공학과   ); 이장명    (부산대학교 전자공학과   ); 하시모토히데키    (동경대학 생산기술연구소  );
  • 초록

    Intelligent Space defines an environment where many intelligent devices, such as computers and sensors, are distributed. As a result of the cooperation between smart devices, intelligence emerges from the environment. In such scheme, a crucial task is to obtain the global location of every device in order to of for the useful services. Some tracking systems often prepare the models of the objects in advance. It is difficult to adopt this model-based solution as the tracking system when many kinds of objects exist. In this paper the location is achieved with no prior model, using color properties as information source. Feature vectors of multiple objects using color histogram and tracking method are described. The proposed method is applied to the intelligent environment and its performance is verified by the experiments.


  • 주제어

    multi-vision .   tracking .   intelligent space .   distributed sensors .   mobile robots.  

  • 참고문헌 (10)

    1. B. Brumitt, B. Meyers, J. Krumm, A. Kern, and S. Shafer, 'EasyLiving: Technologies for intelligent environments,' Proceedings of the International Conference on Handheld and Ubiquitous Computing, September 2000 
    2. R. A. Brooks, 'The intelligent room project,' Proceedings of the Second International Cognitive Technology Conference (CT'97), Aizu, Japan, August 1997 
    3. J.-H. Lee and H. Hashimoto, 'Intelligent space-concept and contents,' Advanced Robotics, vol. 16, no. 3, pp. 265-280, 2002 
    4. K. Morioka, J.-H. Lee, and H. Hashimoto, 'Human centered robotics in intelligent space,' IEEE International Conference on Robotics and Automation(ICRA '02), Washington D.C., USA, May 2002 
    5. J.-H. Lee, K. Morioka, and H. Hashimoto, 'Cooperation of intelligent sensors in intelligent space,' IEEE Transactions on industrial electronics (submitted) 
    6. P. Norlund and J.-O. Eklundh, 'Towards a seeing agent,' Proceedings of First International Workshop on Cooperative Distributed Vision, pp. 93-120, 1997 
    7. N. Atsushi, K. Hirokazu, H. Shinsaku, and I. Seiji, 'Tracking multiple people using distributed vision systems,' Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 2974-2981, Washington D.C, May 2002 
    8. C. Wren, A. Azarbayejani, T. Darrell, and A. Pentland, 'Pfinder: Real-time tracking of the human body,' IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 19, pp. 780-785. July 1997 
    9. W. F. Gardner and D. T. Lawton, 'Interactive modelbased vehicle tracking,' IEEE Transaction on Pattern Analysis and Machine Intelligence, vol. 18, pp. 1115-1121, Nov 1996 
    10. M. J. Swain, and D. H. Ballard, 'Color indexing,' International Journal of Computer Vision, vol. 7, no. 1, pp. 11-32, 1991 

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    2. 2006 "Human Tracking using Multiple-Camera-Based Global Color Model in Intelligent Space" International journal of fuzzy logic and intelligent systems : IJFIS 6 (1): 39~46    
    3. 2006 "Position Control of Mobile Robot for Human-Following in Intelligent Space with Distributed Sensors" International Journal of Control, Automation and Systems 4 (2): 204~216    
    4. 2006 "단일마스터 멀티슬레이브형 텔레로보틱스 수술시스템 개발" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering 12 (9): 918~925    
    5. 2007 "컬러 클러스터링 기법을 이용한 공간지능화의 다중이동물체 추척 기법" 한국해양정보통신학회논문지 = The journal of the Korea Institute of Maritime Information & Communication Sciences 11 (11): 2179~2184    
    6. 2007 "DIND Data Fusion with Covariance Intersection in Intelligent Space with Networked Sensors" International journal of fuzzy logic and intelligent systems : IJFIS 7 (1): 41~48    
    7. 2007 "공간지능화에서 다중카메라를 이용한 이동로봇의 인간추적행위" 로봇학회논문지 = The journal of Korea Robotics Society 2 (4): 310~316    
    8. 2007 "공간지능화를 위한 색상기반 파티클 필터를 이용한 다중물체추적" 로봇학회논문지 = The journal of Korea Robotics Society 2 (1): 21~28    
    9. 2007 "퍼지기법을 이용한 영상분할 및 물체추적에 관한 연구" 퍼지 및 지능시스템학회 논문지 = Journal of fuzzy logic and intelligent systems 17 (3): 368~373    
    10. 2007 "Global Map Building and Navigation of Mobile Robot Based on Ultrasonic Sensor Data Fusion" International journal of fuzzy logic and intelligent systems : IJFIS 7 (3): 198~204    
  • 이장명 (101)

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