• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.529-539
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• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.40 no.3
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• pp.207-215
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• 2022

This research has been focused on accessing precision and accuracy of UAV (Unmanned Aerial Vehicle)-derived 3-D surveying coordinates. To this end, a highly precise and accurate testing control network had been established by GNSS (Global Navigation Satellite Systems) campaign and its network adjustment. The coordinates of the ground control points and the check points were estimated within 1cm accuracy for 95% of the confidence level. FC330 camera mounted on DJI Phantom 4 repeatedly took aerial photos of an experimental area seven times, and then processed them by two widely used software packages. To evaluate the precision and accuracy of the aerial surveys, 3-D coordinates of the ten check points which automatically extracted by software were compared with GNSS solutions. For the 95% confidence level, the standard deviation of two software's result is within 1cm, 2cm, and 4cm for the north-south, east-west, and height direction, and RMSE (Root Mean Square Error) is within 9cm and 8cm for the horizontal, vertical component, respectively. The interest is that the standard deviation is much smaller than RMSE. The F-ratio test was performed to confirm the statistical difference between the two software processing results. For the standard deviation and RMSE of most positional components, exception of RMSE of the height, the null hypothesis of the one-tailed tests was rejected. It indicates that the result of UAV photogrammetry can be different statistically based on the processing software.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.3
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• pp.149-159
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• 2008

We present new methods which transfer the color style of a source image into an arbitrary given reference image. Misidentification problem of color cause wrong indexing in low saturation. Therefore, the proposed method do indexing after Image separating chromatic and achromatic color from saturation. The proposed method is composed of the following four steps : In the first step, Image separate chromatic and achromatic color from saturation using threshold. In the second step, image of separation do indexing using cylindrical metric. In the third step, the number and positional dispersion of pixel decide the order of priority for each index color. And average and standard deviation of each index color be calculated. In the final step, color be transferred in Lab color space, and post processing to removal noise and pseudo-contour. Experimental results show that the proposed method is effective on indexing and color transfer.

• Journal of Preventive Medicine and Public Health
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• v.19 no.1 s.19
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• pp.123-129
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• 1986

Fetal weight data from 84 litters of Sprague-Dawley rats were statistically analyzed for the effect of position in the uterine horn on fetal weight. The standard score obtained from the mean weight and standard deviation of all fetuses in a uterine horn were studied for position effect. In control group, the heaviest fetus occupied the middle position with a progressive decrease in weights toward the ovarian and cervical ends of the horn. But the effect related to position for the fetal weight was not statistically significant. In contrast, rats acutely or chronically exposed to carbon monoxide showed statistically significant positional differences of fetal weight within the uterine horns. The findings that the intrauterine position effect on fetal weight which is not signicant in control group may act one of confounders at the situation of transplacental toxicological studios.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.8
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• pp.1959-1964
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• 2015

This research was focused on the analysis of navigation parameters from the received L1, C/A signal of the recent GPS, which has advanced with the SA policy change and the GPS modernization policy by the United States. It was done as a first step study for a comprehensive analysis on the multiple satellite navigation systems which will be adding or separating GPS signal. In particular, the statistical analysis on the GDOP change and positional accuracy based on the geocentric and spherical coordinate systems were investigated with carrier- to-noise ratio and the satellite geometry, The obtained GDOP values of HDOP, PDOP, VDOP are 0.5, 1.2, and 1.1, respectively in deviation. In addition, the positioning accuracies with these GDOP values were analyzed in the ellipsoidal and ECEF coordinates.

• Journal of International Society for Simulation Surgery
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• v.2 no.1
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• pp.13-16
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• 2015

Purpose We conducted a study on the reconstruction of the head's shape in 3D using the ToF depth sensor. A time-of-flight camera (ToF camera) is a range imaging camera system that resolves distance based on the known speed of light, measuring the time-of-flight of a light signal between the camera and the subject for each point of the image. The above method is the safest way of measuring the head shape of plagiocephaly patients in 3D. The texture, appearance and size of the head were reconstructed from the measured data and we used the SDF method for a precise reconstruction. Materials and Methods To generate a precise model, mesh was generated by using Marching cube and SDF. Results The ground truth was determined by measuring 10 people of experiment participants for 3 times repetitively and the created 3D model of the same part from this experiment was measured as well. Measurement of actual head circumference and the reconstructed model were made according to the layer 3 standard and measurement errors were also calculated. As a result, we were able to gain exact results with an average error of 0.9 cm, standard deviation of 0.9, min: 0.2 and max: 1.4. Conclusion The suggested method was able to complete the 3D model by minimizing errors. This model is very effective in terms of quantitative and objective evaluation. However, measurement range somewhat lacks 3D information for the manufacture of protective helmets, as measurements were made according to the layer 3 standard. As a result, measurement range will need to be widened to facilitate production of more precise and perfectively protective helmets by conducting scans on all head circumferences in the future.

• The Journal of Advanced Prosthodontics
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• v.16 no.1
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• pp.1-11
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• 2024

PURPOSE. The present experiment aimed to evaluate the placement accuracy of fully guided implant surgery using a mucosa-supported surgical guide when the protocol of osteotomy and installation was modified (MP) compared to when the protocol was sequentially and conventionally carried out (CP). MATERIALS AND METHODS. For 24 mandibular dentiform models, 12 dentists (6 experts and 6 beginners) performed fully guided implant placements two times at the right first and second molar sites using a mucosa-supported surgical guide, once by the CP (CP group) and at the other time by the MP (MP group). The presurgical and postsurgical stereolithographic images were superimposed, and the deviations between the virtually planned and actually placed implant positions and the procedure time were compared statistically (P < .05). RESULTS. The accuracies were similar in the CP and MP groups. In the CP group, the mean platform and apex deviations at the second molar site for the beginners were +0.75 mm and +1.14 mm, respectively, which were significantly larger than those for the experts (P < .05). In the MP group, only the mean vertical deviation at the second molar site for the beginners (+0.53 mm) was significantly larger than that for the experts (P < .05). The procedure time was significantly longer for the MP group (+94.0 sec) than for the CP group (P < .05). CONCLUSION. In fully guided implant surgery using a mucosa-supported guide, the MP may improve the placement accuracy when compared to the CP, especially at sites farther from the most-posterior natural tooth.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.27 no.4
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• pp.321-329
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• 2001

To establish systematic diagnosis and treatment planning of dentofacial deformity patient including facial asymmetry or hemifacial microsomia patient, comprehensive analysis of three dimensional structure of the craniofacial skeleton is needed. Even though three dimensional CT has been developed, landmark identification of the CT is still questionable. In recent, a method for correcting cephalic malpositioning that enables accurate superimposition of the landmarks in different stages without using any additional equipment was developed. It became possible to compare the three-dimensional positional change of the maxillomandible without invasive procedure. Based on the principle of the method, a new program was developed for the purpose of diagnosis and treatment planning of dentofacial deformity patient via three dimensional visualization and structural analysis. This program enables us to perform following menu. First, visualization of three dimensional structure of the craniofacial skeleton with wire frame model which was made from the landmarks observed on both lateral and frontal cephalogram. Second, establishment of midsagittal plane of the face three dimensionally, with the concept of "the plane of the best-fit". Third, examination of the degree of deviation and direction of deformity of structure to the reference plane for the purpose of establishing surgical planning. Fourth, simulation of expected postoperative result by various image operation such as mirroring, overlapping.

• Journal of Oral Medicine and Pain
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• v.20 no.1
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• pp.141-158
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• 1995

This study was performed to invetigate the relationship between clinical manifestations related to temporomandibular joint sounds and temporomandibular joint vibrations that occurred synchronously with sounds. There have been reported in many articles that joint sounds indicate internal joint pathology. Therefore, it is necessary to evaluate type and patterns of joint sounds, and radiographic changes of temporomandibular joint(TMJ) in order to diagnose and deal with the Temporomandibular Disorders(TMD). For this study 142 patients with TMDs were collected and they were examined by routine diagnostic procedure for TMDs. The author classified TMJ sounds clinically into 3 types : click, popping, and crepitus. Transcranial and panoramic radiographs were taken for observein bony changes of TMJ, and for observing vibrations of TMJ Sonopak of Biopak system was used. The obtained results were as follows : 1. Female subjects with crepitus were older than those with click or popping and their mean ages were about 45 years old. But in male subjects, there was no age difference. 2. For all subjects, mean value of maximal mouth opening were above 40mm, which are lower limit of normal vertical opening. But in subjects with L-type opening deviation, mouth opening capacity were about 36mm of range. 3. Symptom duration stated when patient presented first were slightly longer in subjects with crepitus but there were no statistical differences. And there were also no radiographic differences among 3 types of joint sounds in regard to symptom duration. 4. In subjects wih click, it might have been interpreted that 12% had closed lock, 12% had degenerative joint disease, and about 17% of he subjects had normal joints by Sonopak. 5. There were no significant relationships between subjective loudness of joint sounds and magnitude of joint vibrations. 6. The highest value of Integral and peak amplitude were observed in popping sounds and though it was not significant, value of peak frequency was highest in crepitus. 7. Amount of mandibular positional change were differed between click and crepitus on frontal plane, between click, crepitus and popping on horizontal plane in rotational movement, respectively. However, there no difference among them in translational movements.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.40
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• pp.13.1-13.8
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• 2018

Background: We evaluated change in the mandibular condyle after orthognathic surgery using cone-beam computed tomography (CBCT) in patients with facial asymmetry. Methods: Thirty patients with skeletal class III malocclusion and mandibular prognathism or facial asymmetry were classified into two groups according to the amount of menton deviation (MD) from the facial midline on anteroposterior (AP) cephalogram: group A (asymmetry, MD ≥ 4 mm; n = 15) and group B (symmetry, MD < 4 mm; n = 15). Position and angle of condylar heads on the axial, sagittal, and coronal views were measured within 1 month preoperatively (T0) and postoperatively (T1) and 6 months (T2) postoperatively. Results: On axial view, both groups showed inward rotation of condylar heads at T1, but at T2, the change was gradually removed and the condylar head returned to its original position. At T1, both groups showed no AP condylar head changes on sagittal view, although downward movement of the condylar heads occurred. Then, at T2, the condylar heads tended to return to their original position. The change in distance between the two condylar heads showed that they had moved outward in both groups, causing an increase in the width between the two heads postoperatively. Analysis of all three-dimensional changes of the condylar head positions demonstrated statistically significant changes in the three different CBCT views in group B and no statistically significant changes in group A. Conclusions: There was no significant difference between the two groups in condylar head position. Because sagittal split ramus osteotomy can be performed without significant change in symmetrical and asymmetrical cases, it can be regarded as an effective method to stabilize the condylar head position in patients with skeletal class III malocclusion and mandibular prognathism or facial asymmetry.