• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.641-646
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• 2011

A low cost gait analysis system, which can measure stride length, walking speed, and ground reaction force, is proposed. A gait analysis system is used for medical evaluation of patients and rehabilitation assistance. Low cost cameras are attached to a shoe and movement of a shoe is estimated using infrared LED landmarks. Ground reaction force is measured from pressure sensors, which are installed inside a shoe. Through experiments, it is shown that the proposed system can be used to obtain stride length, walking speed, and ground reaction force.

• Korean Journal of Veterinary Research
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• v.53 no.4
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• pp.207-210
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• 2013

Fifteen dry dentate and complete mandible samples from the White Rasquera goat breed were studied for symmetry. Thirty-one landmarks were digitally located on the images of the lateral and medial aspects of each hemimandible. Distances between these landmarks allowed the evaluation of the whole hemimandible and also the neural mandible. In the studied samples, the mandible was rather symmetrical, especially in the medial neural part, and in general, there was no side dominance. Only the diastema differed significantly between the sides, and this was related to the rostral part (incisive arch). The incisive region was the least symmetrical region of the caprine mandible, indicating a modular structure more conservative for the neural part. If unsigned asymmetry is interpreted as a measure of developmental stability, then the studied breed presented a marked ability to develop in good fitness despite the harsh environment. The measurements presented here can also be used as a reference for researchers designing experimental studies, especially on mandibular catch-up growth, and as an aid for zooarchaeologists comparing results from dead animals with those from living goat populations.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.258-260
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• 2005

We describe a method for localizing a mobile robot in the working environment using a vision system and VRML. The robot identifies landmarks in the environment and carries out the self-positioning. The image-processing and neural network pattern matching technique are employed to recognize landmarks placed in a robot working environment. The robot self-positioning using vision system is based on the well-known localization algorithm. After self-positioning, 2D scene is overlaid with VRML scene. This paper describes how to realize the self-positioning and shows the result of overlaying between 2D scene and VRML scene. In addition we describe the advantage expected from overlapping both scenes.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.916-919
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• 1996

An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robot's work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.445-450
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• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed "cell-coded map", with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

• Physical Therapy Korea
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• v.7 no.1
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• pp.38-45
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• 2000

Tape measurement for evaluating edema is frequently used by clinicians. The primary purpose of this study is to determine the intertester and intratester reliability of tape measurement carried out by two physical therapists on lower extremities. The intertester and intratester reliability of six anatomical landmarks measurements were determined in six healthy subjects. The measurements were taken in five sessions by each tester. The intraclass correlation coefficients (2,1) were between .87 and .99 for intertester reliability. Intratester reliability was .93 and .99 for A tester and .82 and .99 for B tester. The average range of variation was .13 to .54 in six landmarks. The reliability of six volume measurements was very high. These results support the use tape measurement as a reliable tool for measuring limb girth.

• 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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• 1995.10a
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• pp.388-391
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• 1995

This paper describes computer control of a wheel chair by using landmarks. Firstly, the approach of landmark detection and recognition is described and the image coordinates are obtained by the primary component analysis method. Subsequently, the self-localization of the wheel chair is determined on the basis of a three-dimensional image processing method. Finally, the control system of the wheel chair is described and a navigation experiment is given. Experimental results indicate the effectiveness of our approah.

• Journal of Sensor Science and Technology
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• v.13 no.2
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• pp.144-151
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• 2004

In this paper, we propose an active stereo surveillance system with human-like convergence function. The proposed system uses a bottom-up saliency map model with the human-like selective attention visual function to select an interesting region in each camera. and this system compares the landmarks whether the selective region in each camera finds a same region. If the left and right cameras successfully find a same landmarks, the implemented vision system focuses on the landmark. Using the motor encoder information, we can automatically obtain the depth information and resultantly construct a depth map using the depth information. Computer simulation and experimental results show that the proposed convergence method is very effective to implement the active stereo surveillance system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.3
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• pp.479-484
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• 2012

Geometric effect of landmarks to the navigation error is investigated in the two-dimensional line-of-sight measurement based vision navigation system. DOP is derived between line-of-sight measurement error and navigation solution error. For cases of three landmarks in an area, variations of the DOP were observed through computer simulations. Vision navigation system experiments were performed for the cases. Simulation and experimental results show that navigation solution errors have similar trend to DOP values of the simulation.