• The Journal of Korea Robotics Society
• /
• v.6 no.2
• /
• pp.156-164
• /
• 2011

This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.251-261
• /
• 2010

In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.45 no.2
• /
• pp.310-318
• /
• 1996

It is very important for a mobile robot to estimate its current position With precise information about the current position, the mobile robot can do path-planning or environmental map building successfully. In this paper, a position estimation method using one color image is presented. The mobile robot(K2A) takes an image of a corridor and searches for the door and pillar, which are the given landmarks. The color information is used to distinguish the landmarks. In order to represent the presence of the landmarks, Image Mode is defined. This method adopts Kullback information distance. If a landmark is detected, with the color information, the mobile robot identifies the vertical line of the landmark and its crossing point and an experimental navigation is performed.

• Proceedings of the KIEE Conference
• /
• 2004.05a
• /
• pp.141-143
• /
• 2004

This paper presents an algorithm in which a feature map is built and localization of a mobile robot is carried out for indoor environments. The algorithm proposes an approach which extracts scale-invariant features of natural landmarks from a pair of stereo images. The feature map is built using these features and updated by merging new landmarks into the map and removing transient landmarks over time. And the position of the robot in the map is estimated by comparing with the map in a database by means of an Extended Kalman filter. This algorithm is implemented and tested using a Pioneer 2-DXE and preliminary results are presented in this paper.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2011.11a
• /
• pp.177-180
• /
• 2011

In practice, it is well known that geographical and/or location based routing is highly effective for wireless sensor network. Here, electing some landmarks on the network and forwarding data based on the landmark is one of the good approaches for a vast sensing field with holes. In the most previous works, landmarks are elected without considering the residual energy on each sensor. In this paper, we propose an Energy aware Landmark Election and Routing (ELER) protocol to establish a stable routing paths and reduce the total power consumption. The proposed protocol makes use of each sensor's energy level on electing the landmarks, which would be utilized to route a packet towards the target region using greedy forwarding method. Our simulation results illustrate that the proposed scheme can significantly reduce the power dissipation and effectively lengthen the lifetime of the network.

• Imaging Science in Dentistry
• /
• v.45 no.1
• /
• pp.15-22
• /
• 2015

Purpose: This study was performed to assess the reproducibility of identifying the sella turcica landmark in a three-dimensional (3D) model by using a new sella-specific landmark reference system. Materials and Methods: Thirty-two cone-beam computed tomographic scans (3D Accuitomo$^{(R)}$ 170, J. Morita, Kyoto, Japan) were retrospectively collected. The 3D data were exported into the Digital Imaging and Communications in Medicine standard and then imported into the Maxilim$^{(R)}$ software (Medicim NV, Sint-Niklaas, Belgium) to create 3D surface models. Five observers identified four osseous landmarks in order to create the reference frame and then identified two sella landmarks. The x, y, and z coordinates of each landmark were exported. The observations were repeated after four weeks. Statistical analysis was performed using the multiple paired t-test with Bonferroni correction (intraobserver precision: p<0.005, interobserver precision: p<0.0011). Results: The intraobserver mean precision of all landmarks was <1 mm. Significant differences were found when comparing the intraobserver precision of each observer (p<0.005). For the sella landmarks, the intraobserver mean precision ranged from $0.43{\pm}0.34mm$ to $0.51{\pm}0.46mm$. The intraobserver reproducibility was generally good. The overall interobserver mean precision was <1 mm. Significant differences between each pair of observers for all anatomical landmarks were found (p<0.0011). The interobserver reproducibility of sella landmarks was good, with >50% precision in locating the landmark within 1 mm. Conclusion: A newly developed reference system offers high precision and reproducibility for sella turcica identification in a 3D model without being based on two-dimensional images derived from 3D data.

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

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.2
• /
• pp.160-167
• /
• 2016

This paper reports a localization method of a mobile robot using ceiling image. The ceiling has landmarks which are not distinguishablefrom one another. The location of every landmark in a map is given a priori while correspondence is not given between a detected landmark and a landmark in the map. Only the initial pose of the robot relative to the landmarks is given. The method uses particle filter approach for localization. Along with estimating robot pose, the method also associates a landmark in the map to a landmark detected from the ceiling image. The method is tested in an indoor environment which has circular landmarks on the ceiling. The test verifies the feasibility of the method in an environment where range data to walls or to beacons are not available or severely corrupted with noise. This method is useful for localization in a warehouse where measurement by Laser range finder and range data to beacons of RF or ultrasonic signal have large uncertainty.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
• /
• v.36 no.2
• /
• pp.78-86
• /
• 2010

Introduction: Cone beam computed tomography (CBCT) has various advantages and is used favorably in many fields in dentistry. Especially, CBCT is being used as basic diagnostic tool for 3-dimensional analysis in orthognathic patient. Two-dimensional cephalograms can be synthesized from CBCT digital imaging and communications in medicine (DICOM) data. In this study, conventional cephalograms and CBCT were taken simultaneously, and representative landmarks were located and analyzed in its accuracy and reproducibility. Materials and Methods: Ten patients who had orthognathic surgery in Wonkwang University Daejeon Dental Hospital participated in this study. For each patient, CBCT and conventional cephalogram was taken. By using Ondemand (Cybermad, Korea), 2-dimensional cephalograms was established on CBCT. In addition, 19 landmarks were designated and measured by 3 orthodontists twice a week. After these landmarks were transferred to a coordinate, distance of landmark and axis, standard error, distribution degree were measured, compared and analyzed. Results: Comparing the CT ceph group and conventional cephalogram group, CT ceph group had shown shorter distance of landmark and axis in S, Hinge axis, Bpt, Ba, Or, Corpus left. Standard error of the mean shows that CT ceph group has better reproducibility in Or, Corpus left, Hinge axis at X axis and Na, U1R, U1T, Bpt, PNS, Ba Corpus left, Hinge axis at Y axis. In both groups, mean error was less than 1.00 mm, no significant difference were found between CT ceph group and conventional cephalogram group in all measurements. Furthermore, comparing two groups, each 17 landmarks out of 19 had its characteristic in distribution degree. Conclusion: No significant difference were found between CBCT composed cephalographic radiograph and conventional cephalograghic radiograph, clinical application may be possible if improved.

• Journal of Dental Rehabilitation and Applied Science
• /
• v.21 no.2
• /
• pp.105-111
• /
• 2005

It is essential to establish the suitable position for artificial maxillary anterior teeth, because of not only esthetics, phonetics, mastication, but also optimal position of artificial posterior teeth for the construction of functional and esthetic prostheses. Anatomic landmarks have been used in the arrangement of artificial teeth. Such as incisive papilla and palatal rugae are useful landmarks for positioning occlusal rim and upper anterior artificial teeth because they are relatively stable and to be identified on master cast. Therefore, if average distance between maxillary anterior teeth and landmarks in dentate subjects are measured and applied, appropriate position of occlusal rim can be initially established. In this study, to present a guide to the position of the occlusal rim for upper anterior teeth of edentulous patients, horizontal distance between anatomic landmarks were measured. Maxillary casts were made in 72 Korean dentate subjects. Horizontal distance between central incisor and incisive papilla, between incisive papilla and intercanine line, and between primary palatine rugae and gingival margin of canine were measured on each cast. The results of this study were as follows ; 1. The mean distance from the incisal edge of central incisor to the posterior border of incisive papilla was 12.1 mm (Male 12.2 mm, Female 11.9 mm). 2. The mean distance between posterior border of incisive papilla and intercanine line was 3.5 mm (Male 3.4 mm, Female 3.6 mm / Left 3.6 mm, Right 3.4 mm). 3. The mean distance from the palatal gingival margin of canine to the lateral border of primary palatine rugae was 2.4 mm (Male 2.4 mm, Female 2.4 mm / Left 2.4 mm, Right 2.3 mm). 4. On all measured items, there were no significant differencies in measured values between male and female, and between left and right sides. (P>0.05).