• 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 Journal of Korea Robotics Society
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• v.3 no.2
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• pp.99-105
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• 2008

To achieve autonomous mobile robot navigation, accurate localization technique is the fundamental issue that should be addressed. In augmented reality, the position of a user is required for location-based services. This paper presents indoor localization using infrared reflective artificial landmarks. In order to minimize the disturbance to the user and to provide the ease of installation, the passive landmarks are used. The landmarks are made of coated film which reflects the infrared light efficiently. Infrared light is not visible, but the camera can capture the reflected infrared light. Once the artificial landmark is identified, the camera's relative position/orientation is estimated with respect to the landmark. In order to reduce the number of the required artificial landmarks for a given environment, the pan/tilt mechanism is developed together with the distortion correction algorithm.

• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.306-311
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• 2003

This paper presents a novel localization paradigm for mobile robots based on artificial and natural landmarks. A model-based object recognition method detects natural landmarks and conducts the global and topological localization. In addition, a metric localization method using artificial landmarks is fused to complement the deficiency of topology map and guide to action behavior. The recognition algorithm uses a modified local Zernike moments and a probabilistic voting method for the robust detection of objects in cluttered indoor environments. An artificial landmark is designed to have a three-dimensional multi-colored structure and the projection distortion of the structure encodes the distance and viewing direction of the robot. We demonstrate the feasibility of the proposed system through real world experiments using a mobile robot, KASIRI-III.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.31-38
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• 2023

This paper introduces a real-time face swapping system that enables video influencers to swap their faces with arbitrary generated face images of their choice. The system is implemented as a Django-based server that uses a REST request to communicate with the generative model,specifically the pretrained stable diffusion model. Once generated, the generated image is displayed on the front page so that the influencer can decide whether to use the generated face or not, by clicking on the accept button on the front page. If they choose to use it, both their face and the generated face are sent to the landmark extraction module to extract the landmarks, which are then used to swap the faces. To minimize the fluctuation of landmarks over time that can cause instability or jitter in the output, a temporal filtering step is added. Furthermore, to increase the processing speed the system works on a reduced set of the extracted landmarks.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.232-241
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• 2014

This paper proposes an underwater localization algorithm using probabilistic object recognition. It is organized as follows; 1) recognizing artificial objects using imaging sonar, and 2) localizing the recognized objects and the vehicle using EKF(Extended Kalman Filter) based SLAM. For this purpose, we develop artificial landmarks to be recognized even under the unstable sonar images induced by noise. Moreover, a probabilistic recognition framework is proposed. In this way, the distance and bearing of the recognized artificial landmarks are acquired to perform the localization of the underwater vehicle. Using the recognized objects, EKF-based SLAM is carried out and results in a path of the underwater vehicle and the location of landmarks. The proposed localization algorithm is verified by experiments in a basin.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.91-94
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• 2001

In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.133-139
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• 2013

This paper proposes a vision-based indoor localization method for autonomous vehicles. A single upward-facing digital camera was mounted on an autonomous vehicle and used as a vision sensor to identify artificial landmarks and any natural corner features. An interest point detector was used to find the natural features. Using an optical flow detection algorithm, information related to the direction and vehicle translation was defined. This information was used to track the vehicle movements. Random noise related to uneven light disrupted the calculation of the vehicle translation. Thus, to estimate the vehicle translation, a Kalman filter was used to calculate the vehicle position. These algorithms were tested on a vehicle in a real environment. The image processing method could recognize the landmarks precisely, while the Kalman filter algorithm could estimate the vehicle's position accurately. The experimental results confirmed that the proposed approaches can be implemented in practical situations.

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

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