• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.8
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• pp.1104-1110
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• 2014

This paper investigates geometric effect of landmarks on three-dimensional navigation error in landmark-based vision navigation systems. Dilution of precision is derived for landmark measurement error on the focal plane of the camera and separately expressed in position DOP and attitude DOP. Values of DOP are observed for various configurations of landmarks.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.368-373
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• 2010

A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.642-645
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• 1991

This paper presents the results of research on hardware and software of the landmark tracking system to the positions of moving robot in real time. The landmark tracking system is composed of CCD camera, landmark, strobo system and image processing board. The algorithm calculates the position and direction by using the coordinate transformation fomula after calculating the centroid and rotation angle of landmark at fixed position using the image data. The experiment is performed with landmark tracking system is loaded on xyz-table. XYZ-table is used for identifying the true position in our experiment. The results shows that this system has high performance with maxima error of .+-.1 pixels.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.95-101
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• 2013

The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.208-211
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• 2004

Landmark matching is one of an important algorithm for navigation of satellite images. This paper proposes a fast landmark matching algorithm using a MGLI (Moving Guide-Line Image). For searching the matched point between the landmark chip and a part of image, correlation matrix is used generally, but the full-sized correlation matrix has a drawback requiring plenty of time for matching point calculation. MGLI includes thick lines for fast calculation of correlation matrix. In the MGLI, width of the thick lines should be determined by satellite position changes and navigation error range. For the fast landmark matching, the MGLI provides guided line for a landmark chip we want to match, so that the proposed method should reduce candidate areas for correlation matrix calculation. This paper will show how much time is reduced in the proposed fast landmark matching algorithm compared to general ones.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.473-479
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• 2009

This paper proposes an efficient method to locate the automated guided vehicle (AGV) into a specific parking position using artificial visual landmark and vision-based algorithm. The landmark has comer features and a HSI color arrangement for robustness against illuminant variation. The landmark is attached to left of a parking spot under a crane. For parking, an AGV detects the landmark with CCD camera fixed to the AGV using Harris comer detector and matching descriptors of the comer features. After detecting the landmark, the AGV tracks the landmark using pyramidal Lucas-Kanade feature tracker and a refinement process. Then, the AGV decreases its speed and aligns its longitudinal position with the center of the landmark. The experiments showed the AGV parked accurately at the parking spot with small standard deviation of error under bright illumination and dark illumination.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.44-47
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• 1997

Building a reliable mobile robot - one that can navigate without failures for long periods of time - requires that the uncertainty which results from control and sensing is bounded. This paper proposes a new mobile robot localization method using artificial landmarks. For a mobile robot localization, the proposed method uses a camera calibration(only extrinsic parameters). We use the FANUC arc mate to estimate the posture error, and the result shows that the position error is less than 1 cm and the orientation error less than 1 degrees.

• The korean journal of orthodontics
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• v.49 no.1
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• pp.32-40
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• 2019

Objective: Precise identification of landmarks on posteroanterior (PA) cephalograms is necessary when evaluating lateral problems such as facial asymmetry. The aim of the present study was to investigate whether the use of lateral (LA) cephalograms can reduce errors in landmark identification on PA cephalograms. Methods: Five examiners identified 16 landmarks (Cg, N, ANS, GT, Me, RO, Lo, FM, Z, Or, Zyg, Cd, NC, Ms, M, and Ag) on 32 PA cephalograms with and without LA cephalograms at the same time. The positions of the landmarks were recorded and saved in the horizontal and vertical direction. The mean errors and standard deviation of landmarks location according to the use of LA cephalograms were compared for each landmark. Results: Relatively small errors were found for ANS, Me, Ms, and Ag, while relatively large errors were found for N, GT, Z, Or, and Cd. No significant difference was found between the horizontal and vertical errors for Z and Or, while large vertical errors were found for N, GT, and Cd. The value of identification error was lower when the landmarks were identified using LA cephalograms. Statistically significant error reductions were found at N and Cd with LA cephalograms, especially in the vertical direction. Conclusions: The use of LA cephalograms during identification of landmarks on PA cephalograms could help reduce identification errors.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.144-145
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• 2002

Stereotactic radiotherapy is required to irradiate a small tumor accurately. The radiotherapy showing improves when making an accidental error little boundlessly. It is performed according to treatment planning that is established by the outside landmark of head. At present, when stereotactic radiotherapy for a head is done, the Leksell Flame is fixed on the head, and positioning based on the point and so on which it is in that fixed implement is performed. However, there are problems on the method done at present in the point such as reappearance when the fractionated irradiation method in which the Leksell Flame is removed and installed at every treatment is done because there are landmarks outside the head. Landmarks in the skull were decided, and that precision was examined for the purpose of the improvement of the radiation therapeutic gain. Linac-graphy with longitudinal and lateral view were taken with 6 MV photon beams. A distance to base point inside the skull, each film measured the angle from a center of the small irradiation field, and comparison was done. From the results, a large accidental error wasn't seen as a result of the measurement by every film. Stereotactic radiotherapy for a head treatment had an accidental error of about several millimeters when treatment positioning was done. Therefore, it was thought that there was no problem about an accidental error to arise by putting a landmark in the skull. And, because an accidental error was easy to discover, we thought that modification could be done easily. It was suggested that a landmark in the skull on thus study were useful for improvement of stereotactic radiotherapy.