• Title/Summary/Keyword: Error of landmark identification

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Localization for Mobile Robots using IRID(InfraRed IDentification) (IRID를 이용한 이동로봇의 위치 추정)

  • Bae, Jung-Yun;Song, Jae-Bok;Lee, Soo-Yong
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.9
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    • pp.903-909
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    • 2007
  • Mobile Robots are increasingly being used to perform tasks in unknown environment. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. To achieve autonomous mobile robot navigation, efficient path planner and accurate localization technique are the fundamental issues that should be addressed. This paper presents mobile robot localization using IRID(InfraRed IDentification) as artificial landmarks. IRID has highly deterministic characteristics, different from RFID. By putting several IRID emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Dead-reckoning provides the estimated robot configuration but the error becomes accumulated as the robot travels. IRID information tells the sector the robot is in, but the size of the uncertainty is too large if only the IRID information is used. This paper presents an algorithm which combines both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the simulation results and experiments.

DEVELOPMENT OF THREE DIMENSIONAL MEASURING PROGRAM WITH FRONTAL AND LATERAL CEPHALOMETRIC RADIOGRAPHS -PART 1. COMPUTATION OF THE THREE-DIMENSIONAL COORDINATES BY COMPENSATION OF THE ERROR OF THE HEAD POSITION IN ORDINARY NON-BIPLANAR CEPHALOSTAT- (정모 및 측모 두부 방사선 규격사진을 이용한 3차원 계측 프로그램의 개발 -1. 단일 방사선원으로 촬영된 두부 방사선사진의 두부 위치 보정을 이용한 3차원 좌표의 산출-)

  • Lee, Geun-Ho;Lee, Sang-Han;Jang, Hyon-Joong;Kwon, Tae-Geon
    • Journal of the Korean Association of Oral and Maxillofacial Surgeons
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    • v.27 no.3
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    • pp.214-220
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    • 2001
  • The clinical application of the three-dimensional radiographic technique had been limited to standard Broadbent-Bolton cephalometer with biplanar stereoradiography. We developed a new method for compensating the error of head position in ordinary non-biplanar cephalostat. It became to possible to use the three dimensional cephalogram commonly in clinical bases. 1. The method of methemetical compensation of head positioning error in non-biplanar condition was evaluated with dry skull. The error of the method of first and the second trial was $0.46{\pm}1.21$, $0.33{\pm}0.90mm$, which means the error of the head positioning correction in conventional cephalogram was within clinical acceptance. 2. The reproducibility of this system for clinical application was 0.54 mm ($-2.99{\sim}2.26mm$) which defines the absolute mean difference of the first and second trial. Compare to the The landmark identification error $1.2{\pm}1.6mm$, the error of the measurement was within the range of landmark identification error. The result indicates the adequate clinical accuracy of the computation of three-dimensional coordinates by compensation of the error of the head position in ordinary non-biplanar cephalostat.

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Digital imaging of film-based cephalograms using a digital camera (디지털 카메라를 이용한 필름 두부방사선사진의 디지털 이미지 전환)

  • Wang, Sung-Jin;Kim, Kyung-Ho;Choy, Kwang-Chul
    • The korean journal of orthodontics
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    • v.34 no.5 s.106
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    • pp.448-457
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    • 2004
  • As computer Programs for cephalometric analysis were developed in diagnosis & treatment planning, digital imaging of film-based cephalograms came to be needed. When a digital camera is used, a problem encountered the image distortion produced according to the focal length, which causes errors in indentifying landmarks. In addition, changes in the image size and compression ratio will inevitably produce a low quality image, causing errors in identifying landmarks. Hence. we have found the focal length producing the least image distortion when digital imaging the film-based cephalograms and the minimal digital camera setting which helps to identify the correct landmarks using the COOLPIX4500 digital camera (Nikon, Japan). The results were as follows The image distortion was minimized at a focal length of 16.4mm (79.4mm when converted into a 35mm film camera) when digital imaging the film-based cephalograms. When wide imaging, with a focal length of under IS.4mm, barrel distortion was found and when tole imaging. with a focal length of over 15.4mm pincushion distortion was found. The minimal digital camera setting was $2272{\times}1704$ pixel at normal (1/8) compression from which we can identify the correct landmarks at the same level as tracing the film-based cephalograms manually. As a result. when digital imaging the film-based cephalograms, using a COOLPIX4500 digital camera (Nikon, Japan), the focal length should be 16.4mm the pixel image size over $2272{\times}1704$, and the compression ratio over normal (1/8).