• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.749-757
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• 2001

We present a simple artificial landmark model and robust landmark tracking algorithm for mobile robot localization. The landmark model, consisting of symmetric and repetitive color patches, produces color histograms that are invariant under the geometric and photometric distortions. A stochastic approach based on the CONDENSATION tracks the landmark model robustly even under the varying illumination conditions. After the landmark detection, relative position of the mobile robot to the landmark is calculated. Experimental results show that the proposed landmark model is effective and can be detected and tracked in a clustered scene robustly. With the tracked single landmark, we extract geometrical information than achieve accurate localization.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.12
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• pp.2527-2533
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• 2011

In this paper we propose a new pre-processing algorithm applied to multi-view video coding using color compensation algorithm based on image features. Multi-view images have a difference between neighboring frames according to illumination and different camera characteristics. To compensate this color difference, first we model the characteristics of cameras based on frame's feature from each camera and then correct the color difference. To extract corresponding features from each frame, we use Harris corner detection algorithm and characteristic coefficients used in the model is estimated by using Gauss-Newton algorithm. In this algorithm, we compensate RGB components of target images, separately from the reference image. The experimental results with many test images show that the proposed algorithm peformed better than the histogram based algorithm as much as 14 % of bit reduction and 0.5 dB ~ 0.8dB of PSNR enhancement.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.9-16
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• 2018

Images with lower illumination from the light source or with dark regions due to shadows, etc., can improve subjective image quality by using retinex-based image enhancement schemes. The retinex theory is a method that recognizes the relative lightness of a scene, rather than recognizing the brightness of the scene. The way the human visual system recognizes a scene in a specific position can be in one of several methods: single-scale retinex, multi-scale retinex, and multi-scale retinex with color restoration (MSRCR). The proposed method is based on the MSRCR method, which includes a color restoration step, which consists of three phases. In the first phase, the existing MSRCR method is applied. In the second phase, the dynamic range of the MSRCR output is adjusted according to its histogram. In the last phase, the proposed method transforms the retinex output value into the display dynamic range using a logarithm transformation function considering human visual system characteristics. Experimental results show that the proposed algorithm effectively increases the subjective image quality, not only in dark images but also in images including both bright and dark areas. Especially in a low lightness image, the proposed algorithm showed higher performance improvement than the conventional approaches.

• Journal of Korea Multimedia Society
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• v.5 no.2
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• pp.158-166
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• 2002

In this paper, we proposed a contour shape description method which use the CFR(contour fluctuation ratio) feature. The CFR is the ratio of the line length to the curve length of a contour segment. The line length means the distance of two end points on a contour segment, and the curve length means the sum of distance of all adjacent two points on a contour segment. We should acquire rotation and scale invariant contour segments because each CFR is computed from contour segments. By using the interleaved contour segment of which length is proportion to the entire contour length and which is generated from all the points on contour, we could acquire rotation and scale invariant contour segments. The CFR can describes the local or global feature of contour shape according to the unit length of contour segment. Therefore we describe the shape of objects with the feature vector which represents the distribution of CFRs, and calculate the similarity by comparing the feature vector of corresponding unit length segments. We implemented the proposed method and experimented with rotated and scaled 165 fish images of fifteen types. The experimental result shows that the proposed method is not only invariant to rotation and scale but also superior to NCCH and TRP method in the clustering power.

• Journal of the Korean School Mathematics Society
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• v.23 no.4
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• pp.509-521
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• 2020

This study began with the discovery of the concept of frequency density in Singapore textbooks and in a set of subject contents of the UK's General Certificate of Secondary Education. To understand the mathematical meaning of frequency density, the mathematical connection of frequency density was considered in terms of mathematics internal connections and mathematics external connections. In addition, the teaching method of frequency density was introduced. In terms of mathematical internal connections, the connections among the probability density function, relative frequency density, and frequency density in high school statistics were examined. Regarding mathematical external connections, the connection with the density concept in middle school science was analyzed. Based on the mathematical connection, the study suggested the need to introduce the frequency density concept. For the teaching method of frequency density, the Singapore secondary mathematics textbook was introduced. The Singapore textbook introduces frequency density to correctly represent and accurately interpret data in histograms with unequal class intervals. Therefore, by introducing frequency density, Korea can consistently teach probability density function, relative frequency density, and frequency density, emphasizing the mathematical internal connections among them and considering the external connections with the science subject. Furthermore, as a teaching method of frequency density, we can consider the method provided in the Singapore textbook.

• Radiation Oncology Journal
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• v.21 no.3
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• pp.238-244
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• 2003

Purpose: The Planning of High-Dose-Rate (HDR) brachytherapy treatments are becoming individualized and more dependent on the treatment planning system. Therefore, computer software has been developed to perform independent point dose calculations with the integration of an isodose distribution curve display into the patient anatomy images. Meterials and Methods: As primary input data, the program takes patients'planning data including the source dwell positions, dwell times and the doses at reference points, computed by an HDR treatment planning system (TPS). Dosimetric calculations were peformed in a $10\times12\times10\;Cm^3$ grid space using the Interstitial Collaborative Working Group (ICWG) formalism and an anisotropy table for the HDR Iridium-192 source. The computed doses at the reference points were automatically compared with the relevant results of the TPS. The MR and simulation film images were then imported and the isodose distributions on the axial, sagittal and coronal planes intersecting the point selected by a user were superimposed on the imported images and then displayed. The accuracy of the software was tested in three benchmark plans peformed by Gamma-Med 12i TPS (MDS Nordion, Germany). Nine patients'plans generated by Plato (Nucletron Corporation, The Netherlands) were verified by the developed software. Results: The absolute doses computed by the developed software agreed with the commercial TPS results within an accuracy of $2.8\%$ in the benchmark plans. The isodose distribution plots showed excellent agreements with the exception of the tip legion of the source's longitudinal axis where a slight deviation was observed. In clinical plans, the secondary dose calculations had, on average, about a $3.4\%$ deviation from the TPS plans. Conclusion: The accurate validation of complicate treatment plans is possible with the developed software and the qualify of the HDR treatment plan can be improved with the isodose display integrated into the patient anatomy information.

• Journal of radiological science and technology
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• v.35 no.3
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• pp.255-263
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• 2012

The aim of this study was to evaluate the patient specific quality assurance (QA) results of intensity modulated radiation therapy (IMRT) and volumetric modulated arc therapy (VMAT) through the AAPM Task Group Report 119. Using the treatment planning system, both IMRT and VMAT treatment plans were established. The absolute dose and relative dose for the target and OAR were measured by using an ion chamber and the bi-planar diode array, respectively. The plan evaluation was used by the Dose volume histogram (DVH) and the dose verification was implemented by compare the measured value with the calculated value. For the evaluation of plan, in case of prostate, both IMRT and VMAT were closed the goal of target and OARs. In case of H&N and Multi-target, IMRT was not reached the goal of target, but VMAT was reached the goal of target and OARs. In case of C-shape(easy), both were reached the goal of target and OARs. In case of C-shape(hard), both were reached the goal of target but not reached the goal of OARs. For the evaluation of absolute dose, in case of IMRT, the mean of relative error (%) between measured and calculated value was $1.24{\pm}2.06%$ and $1.4{\pm}2.9%$ for target and OAR, respectively. The confidence limits were 3.65% and 4.39% for target and OAR, respectively. In case of VMAT the mean of relative error was $2.06{\pm}0.64%$ and $2.21{\pm}0.74%$ for target and OAR, respectively. The confidence limits were 4.09% and 3.04% for target and OAR, respectively. For the evaluation of relative dose, in case of IMRT, the average percentage of passing gamma criteria (3mm/3%) were $98.3{\pm}1.5%$ and the confidence limits were 3.78%. In case of VMAT, the average percentage were $98.2{\pm}1.1%$ and the confidence limits were 3.95%. We performed IMRT and VMAT patient specific QA using TG-119 based procedure, all analyzed results were satisfied with acceptance criteria based on TG-119. So, the IMRT and VMAT of our institution was confirmed the accuracy.

• Journal of radiological science and technology
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• v.36 no.4
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• pp.327-335
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• 2013

This study investigates the case of clinical application for TomoDirect 3D-CRT(TD-3D) and TomoHelical 3D-CRT(TH-3D) with evaluating dose distribution for clinical application in each case. Treatment plans were created for 8 patients who had 3 dimensional conformal radiation therapy using TD-3D and TH-3D mode. Each patients were treated for sarcoma, CSI(craniospinal irradiaion), breast, brain, pancreas, spine metastasis, SVC syndrome and esophagus. DVH(dose volume histogram) and isodose curve were used for comparison of each treatment modality. TD-3D shows better dose distribution over the irradiation field without junction effect because TD-3D was not influenced by target length for sarcoma and CSI case. In breast case, dosimetric results of CTV, the average value of D 99%, D 95% were $49.2{\pm}0.4$ Gy, $49.9{\pm}0.4$ Gy and V 105%, V 110% were 0%, respectively. TH-3D with the dosimetric block decreased dose of normal organ in brain, pancreas, spine metastasis case. SCV syndrome also effectively decreased dose of normal organ by using dose block to the critical organs(spinal cord <38 Gy). TH-3D combined with other treatment modalities was possible to boost irradiation and was total dose was reduced to spinal cord in esophagus case(spinal cord <45 Gy, lung V 20 <20%). 3D-CRT using Tomotherapy could overcomes some dosimetric limitations, when we faced Conventional Linac based CRT and shows clinically proper dose distribution. In conclusion, 3D-CRT using Tomotherapy will be one of the effective 3D-CRT techniques.

• Journal of KIISE:Software and Applications
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• v.30 no.5_6
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• pp.444-453
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• 2003

Recently, a great interest of bio-technology(BT) is concentrated and the image analysis technique for electrophoresis gels is highly requested to analyze genetic information or to look for some new bio-activation materials. For this purpose, the location and quantity of each band in a lane should be measured. In most of existing techniques, the approach of peak searching in a profile of a lane is used. But this peak is improper as the representative of a band, because its location does not correspond to that of the brightest pixel or the center of gravity. Also, it is improper to measure band quantity in most of these approaches because various enhancement processes are commonly applied to original images to extract peaks easily. In this paper, we adopt an approach to measure accumulated brightness as a band quantity in each band region, which Is extracted by not using any process of changing relative brightness, and the gravity center of the region is calculated as a band location. Actually, we first extract lanes with an entropy-based threshold calculated on a gel-image histogram. And then, three other methods are proposed and applied to extract bands. In the MER method, peaks and valleys are searched on a vertical search line by which each lane is bisected. And the minimum enclosing rectangle of each band is set between successive two valleys. On the other hand, in the RG-1 method, each band is extracted by using region growing with a peak as a seed, separating overlapped neighbor bands. In the RG-2 method, peaks and valleys are searched on two vertical lines by which each lane is trisected, and the left and right peaks nay be paired up if they seem to belong to the same band, and then each band region is grown up with a peak or both peaks if exist. To compare above three methods, we have measured the location and amount of bands. As a result, the average errors in band location of MER, RG-1, and RG-2 were 6%, 3%, and 1%, respectively, when the lane length is normalized to a unit value. And the average errors in band amount were 8%, 5%, and 2%, respectively, when the sum of band amount is normalized to a unit value. In conclusion, RG-2 was shown to be more reliable in the accuracy of measuring the location and amount of bands.

• Progress in Medical Physics
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• v.19 no.4
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• pp.263-268
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• 2008

The application of a respiratory gated radiotherpy method to the lung radiation surgery was evaluated compared with the conventional method in which the whole tumor motion range is considered in the delineation of PTV (Planning target volume). The four dimensional CT simulation images were acquired for the five NSCLC (Non-small cell lung cancer) patients for radiation surgery. The respiratory gated plan was prepared with the 50% phase CT images and the conventional method was planned based on the ITV (Internal target volume) which include all the target volumes created in each phase CT images within a whole respiratory period. The DVH (Dose volume histogram) of OAR (Organ at risk) which calculated in each method was compared for the evaluation of the plan properness. The relative decrease of OARs' DVH were verified in the application of respiratory gated method. The average decrease rate were $16.88{\pm}9.97%$ in the bronchus, $34.13{\pm}19.15%$ in the spinal cord, $28.42{\pm}18.49%$ in the chest wall and $32.48{\pm}16.66%$ in the lung. Based on these results, we can verified the applicability and the effectiveness of the respiratory gated method in the lung radiation surgery.