• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.272-277
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• 2010

AR(Augmented Reality) needs medium between real and virtual, world, and recognition techniques are necessary to track an object continuously. Optical tracking using marker is mainly used, but it takes time and is inconvenient to attach marker onto the target objects. Therefore, many researchers try to develop markerless tracking techniques nowaday. In this paper, we extract features and 3D position from 3D objects and suggest realtime tracking based on these features and positions, which do not use just coplanar features and 2D position. We extract features using SURF, get rotation matrix and translation vector of 3D object using POSIT with these features and track the object in real time. If the extracted features are nor enough and it fail to track the object, then new features are extracted and re-matched to recover the tracking. Also, we get rotation in matrix and translation vector of 3D object using POSIT and track the object in real time.

• The Journal of Korean Society for Radiation Therapy
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• v.33
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• pp.109-116
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• 2021

Purpose: The purpose of this study is to evaluate the usefulness of Surface-Guided Patient Setup by comparing the patient positioning accuracy when image-guided radiation therapy was used for Markerless patients(unmarked on the skin) using Surface-Guided Patient Setup and Marker patients(marked on the skin) using Laser-Based Patient Setup. Materials And Methods: The position error during IGRT was compared between a Markerless patient initially set up with SGPS using an optical surface scanning system using three cameras and a Marker patient initially set up with LBPS that aligns the laser with the marker drawn on the patient's skin. Both SGPS and LBPS were performed on 20 prostate cancer patients and 10 Stereotactic Radiation Surgery patients, respectively, and SGPS was performed on an additional 60 breast cancer patients. All were performed IGRT using CBCT or OBI. Position error of 6 degrees of freedom was obtained using Auto-Matching System, and comparison and analysis were performed using Offline-Review in the treatment planning system. Result: The difference between the root mean square (RMS) of SGPS and LBPS in prostate cancer patients was Vrt -0.02cm, Log -0.02cm, Lat 0.01cm, Pit -0.01°, Rol -0.01°, Rtn -0.01°, SRS patients was Vrt 0.02cm, Log -0.05cm, Lat 0.00cm, Pit -0.30°, Rol -0.15°, Rtn -0.33°. there was no significant difference between the two regions. According to the IGRT standard of breast cancer patients, RMS was Vrt 0.26, Log 0.21, Lat 0.15, Pit 0.81, Rol 0.49, Rtn 0.59. Conclusion:. As a result of this study, the position error value of SGPS compared to LBPS did not show a significant difference between prostate cancer patients and SRS patients. In the case of additionally performed SGPS breast cancer patients, the position error value was not large based on IGRT. Therefore, it is considered that it will be useful to replace LBPS with SGPS, which has the great advantage of not requiring patient skin marking..

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.1
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• pp.43-55
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• 2019

Smart phone based navigation applications are very useful in everyday life. Cost-effective and user friendly navigation can be provided to the user by many applications available in market. Using the Smart phone these navigation applications provide accurate navigation for outdoor locations. But providing an accurate navigation underground space such as subway station is still a challenge. It is hence more convenient and appropriate for mobility services if the visitors could simply view the guidance of the subway station on their mobile phone, wherever and whenever it is needed. This study develops a algorithm for indoor navigation with the help of Augmented Reality(AR) and QR marker code from the entrance to the train platform for users. This indoor navigation uses AR and QR maker codes for two purposes: to provide the user link to the subway station location and to provide the current guidance details to the user. This Smart phone algorithm that uses a smart phone optical tool to decode the QR marker to determine the location information and provide guidance to the AR without indoor Maps. This algorithm also provides a module to guide mobility vulnerable to the Barrier Free route to destination.

• Nuclear Engineering and Technology
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• v.43 no.2
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• pp.133-140
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• 2011

In this paper, a deformation measurement technology for nuclear fuel rods is proposed. The deformation measurement system includes a high-definition CMOS image sensor, a lens, a semiconductor laser line beam marker, and optical and mechanical accessories. The basic idea of the proposed deformation measurement system is to illuminate the outer surface of a fuel rod with a collimated laser line beam at an angle of 45 degrees or higher. For this method, it is assumed that a nuclear fuel rod and the optical axis of the image sensor for observing the rod are vertically composed. The relative motion of the fuel rod in the horizontal direction causes the illuminated laser line beam to move vertically along the surface of the fuel rod. The resulting change of the laser line beam position on the surface of the fuel rod is imaged as a parabolic beam in the high-definition CMOS image sensor. An ellipse model is then extracted from the parabolic beam pattern. The center coordinates of the ellipse model are taken as the feature of the deformed fuel rod. The vertical offset of the feature point of the nuclear fuel rod is derived based on the displacement of the offset in the horizontal direction. Based on the experimental results for a nuclear fuel rod sample with a formation of surface crud, an inspection resolution of 50 ${\mu}m$ is achieved using the proposed method. In terms of the degree of precision, this inspection resolution is an improvement of more than 300% from a 150 ${\mu}m$ resolution, which is the conventional measurement criteria required for the deformation of neutron irradiated fuel rods.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.679-687
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• 2019

This paper presents the autonomous swimming technology developed for an Autonomous Underwater Vehicle (AUV) operating in the underwater jacket structure environment. To prevent the position divergence of the inertial navigation system constructed for the primary navigation solution for the vehicle, we've developed kinds of marker-recognition based underwater localization methods using both of optical and acoustic cameras. However, these two methods all require the artificial markers to be located near to the cameras mounted on the vehicle. Therefore, in the case of the vehicle far away from the structure where the markers are usually mounted on, we may need alternative position-aiding solution to guarantee the navigation accuracy. For this purpose, we develop a sonar image processing based underwater localization method using a Forward Looking Sonar (FLS) mounted in front of the vehicle. The primary purpose of this FLS is to detect the obstacles in front of the vehicle. According to the detected obstacle(s), we apply an Occupancy Grid Map (OGM) based path planning algorithm to derive an obstacle collision-free reference path. Experimental studies are carried out in the water tank and also in the Pohang Yeongilman port sea environment to demonstrate the effectiveness of the proposed autonomous swimming technology.

• ETRI Journal
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• v.33 no.4
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• pp.569-579
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• 2011

This paper presents a novel approach for human activity recognition (HAR) using the joint angles from a 3D model of a human body. Unlike conventional approaches in which the joint angles are computed from inverse kinematic analysis of the optical marker positions captured with multiple cameras, our approach utilizes the body joint angles estimated directly from time-series activity images acquired with a single stereo camera by co-registering a 3D body model to the stereo information. The estimated joint-angle features are then mapped into codewords to generate discrete symbols for a hidden Markov model (HMM) of each activity. With these symbols, each activity is trained through the HMM, and later, all the trained HMMs are used for activity recognition. The performance of our joint-angle-based HAR has been compared to that of a conventional binary and depth silhouette-based HAR, producing significantly better results in the recognition rate, especially for the activities that are not discernible with the conventional approaches.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.7
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• pp.723-729
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• 2012

Spring-like leg models have been employed to explain various dynamic characteristics in human walking. However, this leg stiffness model has limitations to represent complex motion of actual human gait, especially the behaviors of each lower limb joint. The purpose of this research was to determine changes of total leg stiffness and lower limb joint stiffness with gait speed in knee osteoarthritis. Joint stiffness defined as the ratio of the joint torque change to the angular displacement change. Eight subjects with knee osteoarthritis participated to this study. The subject walked on a 12 m long and 1 m wide walkway with three sets of four different randomly ordered gait speeds, ranging from their self-selected speed to maximum speed. Kinetic and kinematic data were measured using three force plates and an optical marker system, respectively. Joint torques of lower limb joints calculated by a multi-segment inverse dynamics model. Total leg and each lower limb joint had constant stiffness during single support phase. The leg and hip joint stiffness increased with gait speed. The correlation between knee joint angles and torques had significant changed by the degree of severity of knee osteoarthritis.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.831-835
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• 2006

Motion capture means the recording of movement of objects such as human beings, animals, creatures, machines, etc in a form applicable to computer. Since the motion capture system can be introduced to the fields where realistic movement of human beings and animals, which cannot be attained with an existing key frame method is required, large scale is necessary or economical burden exists, it has a merit and possibility of new expression. For these reasons, this method is increasingly used in the field of digital entertainment such as movie, TV, advertisement, documentary, music video, etc centering around the game. However, in spite of such an advantage, problems such as too much advance preparation work in digital image expressions using motion capture, marker attachment, compensation of motion data, motion retargeting and lack of professional human resources, etc. are becoming a prominent figure. Accordingly, this study intends to suggest the way of more effective production of motion capture digital image through finding the problems and their draft possible solutions in the production process based on the image production examples using motion capture.

• 한국초전도학회:학술대회논문집
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• v.10
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• pp.7-7
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• 2000

A high $T_c$ SQUID system is developed for the application to biological immunoassay. In this application, magnetic nanoparticles are used as magnetic markers to perform immunoassay, i.e., to detect binding reaction between an antigen and its antibody. The antibody is labeled with ${\gamma}-Fe_2O_3\;(or\;Fe_3O_4)$ nanoparticles, and the binding reaction can be magnetically detected by measuring the magnetic field from the nanoparticles. Design and set up of the system is described. The system consists of (1) SQUID magnetometer or gradiometer made of 30-deg. bicrystal junctions, (2) field and compensation coils to apply the magnetic field of about 1 mT, (3) special Dewar to realize a 2 mm-distance between the SQUID and the sample, (4) two layers of cylindrical shielding to reduce the extemal magnetic noise to about 1/100, and (5) an electric slider to move the sample with a speed of 10 mm/sec. The sensitivity of the system is studied in terms of detectable magnetic flux. For the measurement bandwidth from 0.2 Hz to 10 Hz, minimum-detectable amplitude of the magnetic flux is $0.8\;m\;{\Phi}_o$ and $0.25\;m{\Phi}_o$ for the magnetometer and the gradiometer, respectively, when the magnetic field of 1 mT is applied. The difference between them is due to the residual environmental noise, and the applied magnetic field does not increase the system noise. The corresponding weight of the magnetic markers is 1 ng and 310 pg, respectively. An experiment is also conducted to measure antigen-antibody reaction with the present system. It is shown that the sensitivity of the present system is 10 times better than that of the conventional method using an optical marker. A one order of magnitude improvement of sensitivity will be realized by the sophistication of the present system.

• The Korean Journal of Physiology and Pharmacology
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• v.13 no.5
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• pp.337-341
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• 2009

Signal transducer and activator of transcription 4 (STAT4), a STAT family member, mediates interleukin 12 (IL12) signal transduction. IL12 is known to be related to calorie-restricted status. In the central nervous system, IL12 also enhances the production of nitric oxide (NO), which regulates food intake. In this study, the expression of neuronal NO synthase (Nos1), which is also related to food intake, was investigated in the hypothalamic areas of Stat4 knockout (KO) mice using nicotinamide adenine dinucleotide phosphate-diaphorase (NADPH-d) histochemistry, a marker for neurons expressing Nos1 enzyme. Western blots were also performed to evaluate Nos1 and Fos expression. Wild-type Balb/c (WT group, n=10 male) and Stat4 KO mice (Stat4 KO group, n=8 male) were used. The body weight and daily food intake in the WT group were $22.4{\pm}0.3$ and 4.4 g per day, while those in the Stat4 KO group were $18.7{\pm}0.4$ and 1.8 g per day, respectively. Stat4 mice had lower body weight and food intake than Balb/c mice. Optical intensities of NADPH-d-positive neurons in the paraventricular nucleus (PVN) and lateral hypothalamic area (LHA) of the Stat4 KO group were significantly higher than those of the WT group. Western blotting analysis revealed that the hypothalamic Nos1 and Fos expression of the Stat4 KO group was up-regulated, compared to that in the WT group. These results suggest that Stat4 may be related to the regulation of food intake and expression of Nosl in the hypothalamus.