• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.677-680
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• 2003

Perceptual landmarks are an effective solution for a mobile robot realizing steady and reliable long distance navigation. But the prerequisite is those landmarks must be detected and recognized robustly at a higher speed under various lighting conditions. This made image processing more complicated so that its speed and reliability can not be both satisfied at the same time. Color based target detection technique can separate target color regions from non-target color regions in an image with a faster speed, and better results were obtained only under good lighting conditions. Moreover, in the case that there are other things with a target color, we have to consider other target features to tell apart the target from them. Such thing always happens when we detect a target with its single character. On the other hand, we can generally search for only one target for each time so that we can not make use of landmarks efficiently, especially when we want to make more landmarks work together. In this paper, by making use of the moment invariants of each landmark, we can not only search specified target from separated color region but also find multi-target at the same time if necessary. This made the finite landmarks carry on more functions. Because moment invariants were easily used with some low level image processing techniques, such as color based target detection and gradient runs based target detection etc, and moment invariants are more reliable features of each target, the ratio of target detection were improved. Some necessary experiments were carried on to verify its robustness and efficiency of this method.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.285-292
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• 2020

This paper introduces a new computational efficient Dilution of Precision (DOP)-based landmark exclusion method while ensuring the safety of the LiDAR-based navigation system that uses an innovation-based Nearest-Neighbor (NN) Data Association (DA) process. The NN DA process finds a correct landmark association hypothesis among all potential landmark permutations using Kalman filter innovation vectors. This makes the computational load increases exponentially as the number of landmarks increases. In this paper, we thus exclude landmarks by introducing DOP that quantifies the geometric distribution of landmarks as a way to minimize the loss of integrity performance that can occur by reducing landmarks. The number of landmarks to be excluded is set as the maximum number that can satisfy the integrity risk requirement. For the verification of the method, we developed a simulator that can analyze integrity risk according to the landmark number and its geometric distribution. Based on the simulation, we analyzed the relationship between DOP and integrity risk of the DA process by excluding each landmark. The results showed a tendency to minimize the loss of integrity performance when excluding landmarks with poor DOP. The developed method opens the possibility of assuring the safety risk of the Lidar-based navigation system in real-time applications by reducing a substantial amount of computational load.

• Journal of IKEEE
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• v.17 no.4
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• pp.434-439
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• 2013

Artificial landmarks have been widely used for reducing the uncertainty in localization of a mobile robot. In addition, research for efficient placement of artificial landmarks has been considered as one of the fundamental issues since the cost of localization is increased with the number of used landmarks. Therefore, this paper proposes a method in which landmarks are efficiently placed by considering the uncertainty characteristics of the motion model and the sensor model. Because two models have different uncertainty distributions, the final uncertainty can be considerably reduced through their efficient combination. The usefulness of the proposed method is demonstrated by simulation results.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.205-216
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• 2016

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

• 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.

• Imaging Science in Dentistry
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• v.44 no.3
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• pp.207-212
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• 2014

Purpose: This study aimed to investigate the deviation of landmarks from horizontal or midsagittal reference planes according to the methods of establishing reference planes. Materials and Methods: Computed tomography (CT) scans of 18 patients who received orthodontic and orthognathic surgical treatment were reviewed. Each CT scan was reconstructed by three methods for establishing three orthogonal reference planes (namely, the horizontal, midsagittal, and coronal reference planes). The horizontal (bilateral porions and bilateral orbitales) and midsagittal (crista galli, nasion, prechiasmatic point, opisthion, and anterior nasal spine) landmarks were identified on each CT scan. Vertical deviation of the horizontal landmarks and horizontal deviation of the midsagittal landmarks were measured. Results: The porion and orbitale, which were not involved in establishing the horizontal reference plane, were found to deviate vertically from the horizontal reference plane in the three methods. The midsagittal landmarks, which were not used for the midsagittal reference plane, deviated horizontally from the midsagittal reference plane in the three methods. Conclusion: In a three-dimensional facial analysis, the vertical and horizontal deviations of the landmarks from the horizontal and midsagittal reference planes could vary depending on the methods of establishing reference planes.

• Imaging Science in Dentistry
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• v.45 no.4
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• pp.227-232
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• 2015

Purpose: The purpose of this study was to evaluate the influence of methods of establishing the midsagittal reference plane (MRP) on the locations of midfacial landmarks in the three-dimensional computed tomography (CT) analysis of facial asymmetry. Materials and Methods: A total of 24 patients (12 male and 12 female; mean age, 22.5 years; age range, 18.2-29.7 years) with facial asymmetry were included in this study. The MRP was established using two different methods on each patient's CT image. The x-coordinates of four midfacial landmarks (the menton, nasion, upper incisor, and lower incisor) were obtained by measuring the distance and direction of the landmarks from the MRP, and the two methods were compared statistically. The direction of deviation and the severity of asymmetry found using each method were also compared. Results: The x-coordinates of the four anatomic landmarks all showed a statistically significant difference between the two methods of establishing the MRP. For the nasion and lower incisor, six patients (25.0%) showed a change in the direction of deviation. The severity of asymmetry also changed in 16 patients (66.7%). Conclusion: The results of this study suggest that the locations of midfacial landmarks change significantly according to the method used to establish the MRP.

• The korean journal of orthodontics
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• v.32 no.1 s.90
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• pp.59-69
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• 2002

The purpose of this study was to evaluate the reproducibility of lateral cephalometric landmarks according to radiographic image enhancement, and to contribute to the identification of cephalometric landmarks. Lateral cephalograms of ten individuals were taken and stored into computer. The images were then enhanced up to four grades by Quick Ceph Image Pro$^{TM}$ on condition that the gray-scale equalization number was 50 and the detail enhancement number was 50. After thirty two landmarks were identified on monitor images by five observers, the deviations from the mean, the distances estimated between identified points and the mean point of five identified points, were evaluated for each landmark at each enhancement grade. Through the statistical analysis, following results were obtained. 1. In case of unenhanced radiographic images, the inter-observer reproducibility of the landmarks showed a large variation. 2. The comparison of deviation from the mean according to the degree of radiographic image enhancement for each landmark showed that the inter-observer reproducibility was significantly different at 5 landmarks. 3. The landmark of pterygomaxillary fissure showed higher reproducibility at enhancement grade 1 and 2 images than at unenhanced images. So did the landmark of posterior nasal spine at enhancement grade 1 images, and the landmark of menton at enhancement grade 2, 3 and 4 images respectively. The above results suggest that the reproducibility of some landmarks can be increased by radiographic image enhancement during the identification of the lateral cephalometric landmarks on the monitor.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.389-394
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localization technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.11
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• pp.1486-1495
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• 2018

This paper investigates the autonomous ground vehicle (AGV) localization filter design problem under GNSS-denied environments. It is assumed that the given landmarks do not have unique features due to the lack of a prior knowledge on them. For such case, the AGV may have difficulties in distinguishing the position measurement of the detected landmark from those of other landmarks with the same feature, hence the conventional localization filters are not applicable. To resolve this technical issue, the localization filter design problem is formulated as a special form of the data association determining whether the detected feature is actually originated from which landmark. The measurement hypotheses generated by landmarks with the same feature are evaluated by the nearest neighbor data association scheme to reduce the computational burden. The position measurement corresponding to the landmark with the most probable hypothesis is used for localization filter. Through the experiments in real-driving condition, it is shown that the proposed method provides satisfactory localization performance in spite of using non-unique landmarks.