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公开(公告)号：KR1020160107823A
公开(公告)日：2016-09-19
申请号：KR1020150031162
申请日：2015-03-05
申请人： 국방과학연구소
IPC分类号： G06K9/62
CPC分类号： G06K9/6267 , G06K9/6257 , G06T7/00 , G06T2207/10048
摘要： 본발명은표적의종류및 자세를갱신하여표적분류의정확도를높일수 있는열 영상기반의표적분류장치및 그방법에관한것으로, 순차입력되는열 영상으로부터표적분할영상을추출하는단계; 상기추출된표적분할정보와열 영상을근거로표적의종류및 자세를분류하는단계; 상기분류된연속적인표적의종류와자세변화를체크하여실시간으로표적분류결과를갱신하는단계; 및상기갱신된표적분류결과를출력하는단계;를포함할수 있다.
摘要翻译： 本发明涉及一种基于热图像序列的目标分类装置及其方法，其可以通过更新目标的种类和姿态来提高目标分类的准确性。 该方法可以包括：从连续输入的热图像提取目标分割图像的步骤; 基于热图像和提取的目标分割信息对目标的种类和姿态进行分类的步骤; 通过检查所分类的连续目标的种类和姿势的变化来实时更新目标分类结果的步骤; 以及输出更新的目标分类结果的步骤。
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公开(公告)号：KR101703515B1
公开(公告)日：2017-02-07
申请号：KR1020150069961
申请日：2015-05-19
申请人： 국방과학연구소
摘要： 본발명은영상내의표적을추적하는장치및 방법에관한것으로, 표적의영상을포함하는영상을입력받는영상입력부와, 입력된영상으로부터, 표적의영상이포함된관심영역(ROI : Region Of Interest)를설정하고, 설정된관심영역으로부터특징점을추출및, 이전프레임의영상과현재입력된프레임의영상을이용하여상기추출된특징점의이동량을추적하고추적결과로기하변환매트릭스를생성하는추적부와, 이전프레임까지입력된영상들에근거하여생성된초해상도이미지로부터, 상기관심영역내의배경부분에해당되는특징점들을제거및, 기설정된특징점정제알고리즘에근거하여유효한특징점들만을추출하는특징점정제부, 및, 상기초해상도이미지로부터추출된유효특징점들또는현재입력된영상으로부터추출된특징점들중 어느하나의특징점들에근거하여상기관심영역을갱신하는제어부를포함하는것을특징으로한다.
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公开(公告)号：KR101539637B1
公开(公告)日：2015-07-27
申请号：KR1020140057050
申请日：2014-05-13
申请人： 국방과학연구소
IPC分类号： G06T7/20
摘要： 본발명은영상추적기술에관한것으로서, 더상세하게는 3차원색상정보를 2차원색상정보들로분할하여, 표적과배경의색상성분대비를세밀화하여표적영역의추출성능을높이고시간에따라변화하는표적의색상을적응적으로반영하는방법에대한것이다.
摘要翻译： 本发明涉及一种图像跟踪技术，更具体地涉及一种用于提高目标区域的提取性能的方法，并且通过将三维颜色信息划分为多个二维图像来自适应地反映目标随时间变化的颜色， 并且改善目标和背景之间的颜色分量对比度。
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公开(公告)号：KR101402206B1
公开(公告)日：2014-05-30
申请号：KR1020140043001
申请日：2014-04-10
申请人： 국방과학연구소
IPC分类号： G01S17/66
摘要： The present invention relates to a multiple target tracking method, more particularly, to a multiple target tracking method using distance information of a target, feature information-based Kalman filter, and joint probability data-association (JPDA) method. According to the present invention, a JPDA method generates not only normalized distance squared (NDS) distance information but also an effective matrix through dual conditions based on the correlation information of an image. By using this, the identification of other objects, which closely exist, can be possible and the complexity decreases as the number of cases which are taken into account decrease.
摘要翻译： 多目标跟踪方法技术领域本发明涉及多目标跟踪方法，更具体地，涉及使用目标的距离信息，基于特征信息的卡尔曼滤波器和联合概率数据关联（JPDA）方法的多目标跟踪方法。 根据本发明，JPDA方法不仅产生归一化距离平方（NDS）距离信息，而且还通过基于图像的相关信息的双重条件生成有效矩阵。 通过使用这一点，密切存在的其他对象的识别是可能的，并且随着考虑到的案例数量的减少，复杂性降低。
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公开(公告)号：KR102210404B1
公开(公告)日：2021-02-02
申请号：KR1020190127130
申请日：2019-10-14
申请人： 국방과학연구소 , 고려대학교 산학협력단
摘要： 본발명은촬영된영상의 GPS 좌표나 DSM 등의정보없이영상의내용을이용하여위치를추정함으로써촬영된영상의위치를정확하게찾을수 있도록한 위치정보추출장치및 방법에관한것으로서, 위치정보를포함하는지역이미지를복수개 포함하는데이터베이스부와, 타겟이미지및 상기복수개의지역이미지각각으로부터특징을추출하도록기 학습된특징추출부와, 상기특징추출부가추출한상기복수개의지역이미지각각에대한특징과상기특징추출부가추출한상기타겟이미지에대한특징간의유사도를비교하는유사도비교부와, 상기유사도비교부가비교한결과에기초해서상기복수개의지역이미지중 어느하나를선별하고, 상기선별된지역이미지에포함된위치정보를이용해서상기타겟이미지에대한위치정보를추출하는위치검색결과출력부를포함한다.
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公开(公告)号：KR101426864B1
公开(公告)日：2014-08-07
申请号：KR1020130005253
申请日：2013-01-17
申请人： 국방과학연구소
摘要： 본 발명은 표적의 열상정보를 획득하여 표적의 궤적을 추적하기 위해 추적창 조절을 이용하는 영상추적기의 근거리 열상 표적추적을 위한 영역기반 경계향상 방법에 관한 것으로, 상기 발명은 상기 획득된 열상정보를 휘도 기울기 생성을 통해 경계 영상으로 변환하고 배경의 경계를 약화시킨 기준영상을 크기가 동일한 사전에 정해진 개수의 영역으로 분할하는 단계; 및 상기 분할된 영역들 각각에 속하는 경계의 세기를 비교하여 세기의 차이가 나는 영역들 간에는 보간을 수행하고 상기 영역들 각각에 속한 픽셀의 평균값을 이용하여 상기 추적창 조절을 수행하는 단계를 포함하는 것을 특징으로 한다. 이에 의해 본 발명은 영상추적을 위한 영역기반 경계영상을 향상시킴으로써 근거리 열상 표적 추적의 정확성과 지속성을 향상시킬 수 있다.
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8.发明授权
公开(公告)号：KR101394164B1
公开(公告)日：2014-05-16
申请号：KR1020130005247
申请日：2013-01-17
申请人： 국방과학연구소
CPC分类号： G06T7/248 , G06T3/4023 , G06T3/4053 , G06T7/32
摘要： The present invention relates to a super-resolution-based high-precision video tracking method for a video tracker, and a high-precision video tracking apparatus using the same. The high-precision video tracking method comprises the steps of: extracting a target image from a input image (t-1) and determining the size of the extracted target image; performing a first interpolation of creating 1/2 subpixels and a second interpolation of creating 1/4 subpixels, according to the determined size of the target image; selecting one among a target image created by pixels, a target image created by the first interpolation or a target image created by the second interpolation according to the determined size of the target image and updating a reference image; extracting, from a current input image (t), a search area set to find a target image and determining the size of the extracted search area; performing the first and second interpolations according to the determined size of the search area; and selecting one among the search area created by pixels, a search area created by the first interpolation, and a search area created by the second interpolation according to the size of the updated reference image, matching the selected one with a corresponding reference image, and determining the location of a target in the search area. Accordingly, the present invention can improve real-time properties by minimizing load according to the generation of a super-resolution image while enhancing the accuracy of displacement calculation of a target by amplifying only high-frequency components of the target except for a background.
摘要翻译： 本发明涉及一种用于视频跟踪器的基于超分辨率的高精度视频跟踪方法以及使用其的高精度视频跟踪装置。 高精度视频跟踪方法包括以下步骤：从输入图像（t-1）中提取目标图像并确定所提取的目标图像的大小; 根据确定的目标图像的大小执行创建1/2子像素的第一内插和创建1/4子像素的第二内插; 选择由像素创建的目标图像之一，通过第一内插创建的目标图像或根据所确定的目标图像大小创建的目标图像，并更新参考图像; 从当前输入图像（t）提取设置为找到目标图像并确定所提取的搜索区域的大小的搜索区域; 根据确定的搜索区域的大小执行第一和第二内插; 并且根据所更新的参考图像的大小，将所选择的参考图像与对应的参考图像相匹配，并且选择由像素创建的搜索区域，由第一内插创建的搜索区域和由第二内插创建的搜索区域，以及 确定目标在搜索区域中的位置。 因此，本发明可以通过根据超分辨率图像的产生来最小化负载来提高实时性，同时通过仅放大除了背景的目标的高频分量来增强目标的位移计算的精度。
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公开(公告)号：KR101348680B1
公开(公告)日：2014-01-09
申请号：KR1020130002389
申请日：2013-01-09
申请人： 국방과학연구소
CPC分类号： G06T7/223 , G06T7/13 , G06T2207/30241
摘要： The present invention relates to a target acquisition method for an image tracking system which tracks the trace of a target by acquiring and analyzing image information of the target and a target acquisition apparatus using the same. The target acquisition method includes the following steps of: (a) Gaussian-filtering an input image and generating a gradient contour image of a target through gradient magnitude conversion; (b) generating a cumulative and positive difference of edges (PDOE) at a frame interval, accumulating the generated PDOE images, and producing an accumulated PDOE image; (c) detecting a cell which the target belongs to by measuring the change quantity of a pixel at a cell unit in the accumulated PDOE image by using a half-grid search; and (d) designating the detected cell as a candidate cell in case an average pixel value of the detected cell is greater than or equal to a predetermined threshold value and determining the effectiveness of the detected cell by using the number of the candidate cells. By the aforementioned, the present invention improves a real-time target acquisition and reliability because the noise of a difference image is minimized, and a response time is shortened by using the technology of the half-grid search and the accumulated PDOE made by changing an existing detection algorithm and the PDOE. [Reference numerals] (AA) Start; (BB) End; (S210) Gaussian-filtering + Gradient magnitude detection; (S220) Produce an accumulated PDOE; (S230) Grid search; (S235) Kmin
摘要翻译： 本发明涉及一种图像跟踪系统的目标获取方法，其通过获取和分析目标图像信息和使用其的目标获取装置跟踪目标轨迹。 目标获取方法包括以下步骤：（a）对输入图像进行高斯滤波，并通过梯度幅度转换产生目标的梯度轮廓图像; （b）以帧间隔产生边缘的累积和正差值（PDOE），累积产生的PDOE图像，并产生累积的PDOE图像; （c）通过使用半网格搜索来测量累积PDOE图像中的单元单元处的像素的变化量来检测目标所属的单元; 以及（d）在检测到的单元的平均像素值大于或等于预定阈值的情况下将所检测的单元指定为候选单元，并且通过使用候选单元的数量来确定检测单元的有效性。 通过上述，本发明改善了实时目标的获取和可靠性，因为差分图像的噪声被最小化，并且通过使用半网格搜索的技术和通过改变图像的累积PDOE来缩短响应时间 现有检测算法和PDOE。 （附图标记）（AA）开始; （BB）结束; （S210）高斯滤波+梯度幅度检测; （S220）生成累计PDOE; （S230）网格搜索; （S235）Kmin <细胞数
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公开(公告)号：KR101087592B1
公开(公告)日：2011-11-29
申请号：KR1020110021802
申请日：2011-03-11
申请人： 국방과학연구소
CPC分类号： G06K9/32 , G06T7/20 , G06T2207/10048
摘要： PURPOSE: A single target tracking performance improving method of an IR image tracking device is provided to extract the target displacement of high reliability and to obtain obstacle detection effect. CONSTITUTION: An IR image tracking apparatus distinguishes contrast ratio(S410). The IR image tracking apparatus obtains a binary mask image of a target(S420). The IR image tracking apparatus calculates the center of gravity(S430). The IR image tracking apparatus controls the size of a tracking window(S440). The IR image tracking apparatus registers a target block as a reference image(S450).
摘要翻译： 目的：提供IR图像跟踪装置的单目标跟踪性能改进方法，以提取高可靠性的目标位移并获得障碍物检测效果。 构成：红外图像跟踪装置区分对比度（S410）。 IR图像跟踪装置获得目标的二进制掩模图像（S420）。 IR图像跟踪装置计算重心（S430）。 IR图像跟踪装置控制跟踪窗口的大小（S440）。 IR图像跟踪装置将目标块登记为参考图像（S450）。
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