• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• International Journal of CAD/CAM
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• v.9 no.1
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• pp.103-109
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• 2010

Recently, various conformal geometric methods have been presented for non-rigid surface matching and registration. This work proposes to improve the robustness of conformal geometric methods to the boundaries by incorporating the symmetric information of the input surface. We presented two symmetric conformal mapping methods, which are based on solving Riemann-Cauchy equation and curvature flow respectively. Experimental results on geometric data acquired from real life demonstrate that the symmetric conformal mapping is insensitive to the boundary occlusions. The method outperforms all the others in terms of robustness. The method has the potential to be generalized to high genus surfaces using hyperbolic curvature flow.

• Imaging Science in Dentistry
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• v.53 no.1
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• pp.21-26
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• 2023

Purpose: A fully digital approach to oral prosthodontic rehabilitation requires the possibility of combining (i.e., registering) digital documentation from different sources. This becomes more complex in an edentulous jaw, as fixed dental markers to perform reliable registration are lacking. This validation study aimed to evaluate the reproducibility of 1) intraoral scanning and 2) soft tissue-based registration of an intraoral scan with a cone-beam computed tomography (CBCT) scan for a fully edentulous upper jaw. Materials and Methods: Two observers independently performed intraoral scans of the upper jaw in 14 fully edentulous patients. The palatal vault of both surface models was aligned, and the inter-observer variability was assessed by calculating the mean inter-surface distance at the level of the alveolar crest. Additionally, a CBCT scan of all patients was obtained and a soft tissue surface model was generated using patient-specific gray values. This CBCT soft tissue model was registered with the intraoral scans of both observers, and the intraclass correlation coefficient(ICC) was calculated to evaluate the reproducibility of the registration method. Results: The mean inter-observer deviation when performing an intraoral scan of the fully edentulous upper jaw was 0.10±0.09 mm. The inter-observer agreement for the soft tissue-based registration method was excellent(ICC=0.94; 95% confidence interval, 0.81-0.98). Conclusion: Even when teeth are lacking, intraoral scanning of the jaw and soft tissue-based registration of an intraoral scan with a CBCT scan can be performed with a high degree of precision.

• Journal of Mechanical Science and Technology
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• v.19 no.12
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• pp.2213-2223
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• 2005

In order to reconstruct a full 3D human model in reverse engineering (RE), a 3D scanner needs to be placed arbitrarily around the target model to capture all part of the scanned surface. Then, acquired multiple scans must be registered and merged since each scanned data set taken from different position is just given in its own local co-ordinate system. The goal of the registration is to create a single model by aligning all individual scans. It usually consists of two sub-steps: rough and fine registration. The fine registration process can only be performed after an initial position is approximated through the rough registration. Hence an automated rough registration process is crucial to realize a completely automatic RE system. In this paper an automated rough registration method for aligning multiple scans of complex human face is presented. The proposed method automatically aligns the meshes of different scans with the information of features that are extracted from the estimated principal curvatures of triangular meshes of the human face. Then the roughly aligned scanned data sets are further precisely enhanced with a fine registration step with the recently popular Iterative Closest Point (ICP) algorithm. Some typical examples are presented and discussed to validate the proposed system.

• Journal of Korea Multimedia Society
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• v.18 no.10
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• pp.1157-1163
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• 2015

In this paper, we propose a registration method of 3d facial scan data and CBCT data using voxelization and distance map. First, two data sets are initially aligned by exploiting the voxelization of 3D facial scan data and the information of the center of mass. Second, a skin surface is extracted from 3D CBCT data by segmenting air and skin regions. Third, the positional and rotational differences between two images are accurately aligned by performing the rigid registration for the distance minimization of two skin surfaces. Experimental results showed that proposed registration method correctly aligned 3D facial scan data and CBCT data for ten patients. Our registration method might give useful clinical information for the oral surgery planning and the diagnosis of the treatment effects after an oral surgery.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1197-1199
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• 2009

Self-alignment for the fabrication of printed thin film transistors has become of great interest because of the resolution and registration limits of printing technologies. In this work, self-patterning and selfregistration processes are introduced, which do not need surface energy patterning and the resulting minimum gate channel length could be down to $11.2{\mu}m$ with the sheet resistance of 2.6 ${\Omega}/{\square]$ for the source and drain electrodes.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.450-453
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• 2002

In radiotherapy treatment planning, it is critical to deliver the radiation dose to tumor and protect surrounding normal tissue. Recent developments in functional imaging and radiotherapy treatment technology have been raising chances to control tumor saving normal tissues. A brain phantom which could be used for image registration technique of CT-MR and CT-SPECT images using surface matching was developed. The brain phantom was specially designed to obtain imaging dataset of CT, MR, and SPECT. The phantom had an external frame with 4 N-shaped pipes filled with acryl rods, Pb rods for CT, MR, and SPECT imaging, respectively. 8 acrylic pipes were inserted into the empty space of the brain phantom to be imaged for geometric evaluation of the matching. For an optimization algorithm of image registration, we used Downhill simplex algorithm suggested as a fast surface matching algorithm. Accuracy of image fusion was assessed by the comparison between the center points of the section of N-shaped bars in the external frame and the inserted pipes of the phantom and minimized cost functions of the optimization algorithm. Technique with partially transparent, mixed images using color on gray was used for visual assessment of the image registration process. The errors of image registration of CT-MR and CT-SPECT were within 2mm and 4mm, respectively. Since these errors were considered within a reasonable margin from the phantom study, the phantom is expected to be used for conventional image registration between multimodal image datasets..

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.597-602
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• 2016

In image guided surgery, a patient registration process is a critical process for the successful operation, which is required to use pre-operative images such as CT and MRI during operation. Though several patient registration methods have been studied, we concentrate on one method that utilizes 3D surface measurement data in this paper. First, a hand-held 3D surface measurement device measures the surface of the patient, and secondly this data is matched with CT or MRI data using optimization algorithms. However, generally used ICP algorithm is very slow without a proper initial location and also suffers from local minimum problem. Usually, this problem is solved by manually providing the proper initial location before performing ICP. But, it has a disadvantage that an experience user has to perform the method and also takes a long time. In this paper, we propose a method that can accurately find the proper initial location automatically. The proposed method finds the proper initial location for ICP by converting 3D data to 2D curvature images and performing image matching. Curvature features are robust to the rotation, translation, and even some deformation. Also, the proposed method is faster than traditional methods because it performs 2D image matching instead of 3D point cloud matching.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.39 no.4
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• pp.197-199
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• 2013

Three-dimensional (3D) computed tomography image models are helpful in reproducing the maxillofacial area; however, they do not necessarily provide an accurate representation of dental occlusion and the state of the teeth. Recent efforts have focused on improvement of dental imaging by replacement of computed tomography with other detailed digital images. Unfortunately, despite the advantages of medical simulation software in dentofacial analysis, diagnosis, and surgical simulation, it lacks adequate registration tools. Following up on our previous report on orthognathic simulation surgery using computer-aided design/computer-aided manufacturing (CAD/CAM) software, we recently used the registration functions of a CAD/CAM platform in conjunction with surgical simulation software. Therefore, we would like to introduce a new technique, which involves use of the registration functions of CAD/CAM software followed by transfer of the images into medical simulation software. This technique may be applicable when using various registration function tools from different software platforms.

• Journal of Ocean Engineering and Technology
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• v.23 no.1
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• pp.135-139
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• 2009

In the line heating for the plate forming of a ship's hull, an in line assessment of completion is necessary for an automated production system. In the current curved plate forming process, a fabricated plate is compared to a template that is made in the mold loft and is used for the determination of the heating line for the next step. In this paper, a new method is presented for the in line assessment of completion for curved plate forming. This method uses a 3-D scanner. For the registration of the scanned data for a surface and the target surface, the ICP (Iterative Closest Points) method was adopted. A computer program was developed to carry out the registration, check for similarities, visualize the surface, and control the results. This program was applied to a sample curved plate forming process.