• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.197-209
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• 2011

This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.804-809
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• 2007

Initialization problem is defined for indoor mobile robot as a whole process from arrival to normal operation in a new environment. The unstructured environment make the process much more difficult compared to industrial robot in structured environments. We propose a simple and efficient initialization process based on artificial stars on ceiling. Important task points and paths connecting task points are defined based on the corresponding artificial stars. This approach can be used for all kinds of indoor mobile robots with landmarks used for indoor localization.

• The korean journal of orthodontics
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• v.54 no.1
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• pp.48-58
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• 2024

Objective: To quantify the effects of midline-related landmark identification on midline deviation measurements in posteroanterior (PA) cephalograms using a cascaded convolutional neural network (CNN). Methods: A total of 2,903 PA cephalogram images obtained from 9 university hospitals were divided into training, internal validation, and test sets (n = 2,150, 376, and 377). As the gold standard, 2 orthodontic professors marked the bilateral landmarks, including the frontozygomatic suture point and latero-orbitale (LO), and the midline landmarks, including the crista galli, anterior nasal spine (ANS), upper dental midpoint (UDM), lower dental midpoint (LDM), and menton (Me). For the test, Examiner-1 and Examiner-2 (3-year and 1-year orthodontic residents) and the Cascaded-CNN models marked the landmarks. After point-to-point errors of landmark identification, the successful detection rate (SDR) and distance and direction of the midline landmark deviation from the midsagittal line (ANS-mid, UDM-mid, LDM-mid, and Me-mid) were measured, and statistical analysis was performed. Results: The cascaded-CNN algorithm showed a clinically acceptable level of point-to-point error (1.26 mm vs. 1.57 mm in Examiner-1 and 1.75 mm in Examiner-2). The average SDR within the 2 mm range was 83.2%, with high accuracy at the LO (right, 96.9%; left, 97.1%), and UDM (96.9%). The absolute measurement errors were less than 1 mm for ANS-mid, UDM-mid, and LDM-mid compared with the gold standard. Conclusions: The cascaded-CNN model may be considered an effective tool for the auto-identification of midline landmarks and quantification of midline deviation in PA cephalograms of adult patients, regardless of variations in the image acquisition method.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.1
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• pp.35-45
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• 2007

The log data collected from mobile devices contains diverse meaningful and practical personal information. However, this information is usually ignored because of its limitation of memory capacity, computation power and analysis. We propose a novel method that detects landmarks of meaningful information for users by analyzing the log data in distributed modules to overcome the problems of mobile environment. The proposed method adopts Bayesian probabilistic approach to enhance the inference accuracy under the uncertain environments. The new cooperative modularization technique divides Bayesian network into modules to compute efficiently with limited resources. Experiments with artificial data and real data indicate that the result with artificial data is amount to about 84% precision rate and about 76% recall rate, and that including partial matching with real data is about 89% hitting rate.

• The Journal of Advanced Prosthodontics
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• v.15 no.6
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• pp.315-332
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• 2023

PURPOSE. This study aimed to investigate whether the accuracy of intraoral scanners is influenced by different scanning strategies in an in vitro setting, through a systematic review and meta-analysis. MATERIALS AND METHODS. This review was conducted in accordance with the PRISMA 2020 standard. The following PICOS approach was used: population, tooth impressions; intervention, the use of intraoral scanners with scanning strategies different from the manufacturer's instructions; control, the use of intraoral scanners following the manufacturers' requirements; outcome, accuracy of intraoral scanners; type of studies, in vitro. A comprehensive literature search was conducted across various databases including Embase, SciELO, PubMed, Scopus, and Web of Science. The inclusion criteria were based on in vitro studies that reported the accuracy of digital impressions using intraoral scanners. Analysis was performed using Review Manager software (version 5.3.5; Cochrane Collaboration, Copenhagen, Denmark). Global comparisons were made using a standardized mean difference based on random-effect models, with a significance level of α = 0.05. RESULTS. The meta-analysis included 15 articles. Digital impression accuracy significantly improved under dry conditions (P < 0.001). Moreover, trueness and precision were enhanced when artificial landmarks were used (P ≤ 0.02) and when an S-shaped pattern was followed (P ≤ 0.01). However, the type of light used did not have a significant impact on the accuracy of the digital intraoral scanners (P ≥ 0.16). CONCLUSION. The accuracy of digital intraoral scanners can be enhanced by employing scanning processes using artificial landmarks and digital impressions under dry conditions.

• Imaging Science in Dentistry
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• v.53 no.2
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• pp.101-108
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• 2023

Purpose: The aim of this study was to conduct a scoping review and meta-analysis to provide overall estimates of the recall and precision of artificial intelligence for detection and segmentation using oral and maxillofacial cone-beam computed tomography (CBCT) scans. Materials and Methods: A literature search was done in Embase, PubMed, and Scopus through October 31, 2022 to identify studies that reported the recall and precision values of artificial intelligence systems using oral and maxillofacial CBCT images for the automatic detection or segmentation of anatomical landmarks or pathological lesions. Recall (sensitivity) indicates the percentage of certain structures that are correctly detected. Precision (positive predictive value) indicates the percentage of accurately identified structures out of all detected structures. The performance values were extracted and pooled, and the estimates were presented with 95% confidence intervals(CIs). Results: In total, 12 eligible studies were finally included. The overall pooled recall for artificial intelligence was 0.91 (95% CI: 0.87-0.94). In a subgroup analysis, the pooled recall was 0.88 (95% CI: 0.77-0.94) for detection and 0.92 (95% CI: 0.87-0.96) for segmentation. The overall pooled precision for artificial intelligence was 0.93 (95% CI: 0.88-0.95). A subgroup analysis showed that the pooled precision value was 0.90 (95% CI: 0.77-0.96) for detection and 0.94 (95% CI: 0.89-0.97) for segmentation. Conclusion: Excellent performance was found for artificial intelligence using oral and maxillofacial CBCT images.

• Journal of Technologic Dentistry
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• v.23 no.1
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• pp.95-106
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• 2001

The purpose of this study was to show the method of three-dimensional morphometry developed recently and to compare the accuracy of three-dimensional morphometry with those of PA cephalometry, The three-dimensional morphometry analysis program and device were developed. Steel balls (1.2mm in diameter) were attached in twenty five landmarks of artificial human skull. This artificial human skull was used as experimental materials. From three-dimensional morphometry and PA cephalometry of artificial human skull. eleven linear measurements were acquired and made into asymmetry index. Right-left differences of measurements were used as asymmetry index. These measurements and asymmetry index were compared respectively with those of actual. The results were as follows: 1. Mean difference between three-dimensional morphometry and actual artificial human skull in linear measurements was $1.99{\pm}0.37mm$, and mean difference between PA cephalometry and actual was $21.12{\pm}0.45mm$. Both of all were reduced more than those of actual. 2. Mean difference between three-dimensional morphometry and actual artificial human skull in asymmetry index was $0.07{\pm}0.42$, and mean difference between PA cephalometry and actual was $3.63{\pm}0.60$. Three-dimensional morphometry was reduced while PA cephalometry was magnified more than that of actual. 3. Each eleven asymmetry index of three-dimensional morphometry was the same negative sign as those of actuals while only N-Z, ANS-J, Tr-Go, Tr-ANS asymmetry index were the same in PA cephalometry. These results suggest that the method of three-dimensional morphometry is more accurate than those of PA cephalometry in asymmetry analysis.

• Imaging Science in Dentistry
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• v.50 no.2
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• pp.81-92
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• 2020

Intelligent systems(i.e., artificial intelligence), particularly deep learning, are machines able to mimic the cognitive functions of humans to perform tasks of problem-solving and learning. This field deals with computational models that can think and act intelligently, like the human brain, and construct algorithms that can learn from data to make predictions. Artificial intelligence is becoming important in radiology due to its ability to detect abnormalities in radiographic images that are unnoticed by the naked human eye. These systems have reduced radiologists' workload by rapidly recording and presenting data, and thereby monitoring the treatment response with a reduced risk of cognitive bias. Intelligent systems have an important role to play and could be used by dentists as an adjunct to other imaging modalities in making appropriate diagnoses and treatment plans. In the field of maxillofacial radiology, these systems have shown promise for the interpretation of complex images, accurate localization of landmarks, characterization of bone architecture, estimation of oral cancer risk, and the assessment of metastatic lymph nodes, periapical pathologies, and maxillary sinus pathologies. This review discusses the clinical applications and scope of intelligent systems such as machine learning, artificial intelligence, and deep learning programs in maxillofacial imaging.

• Journal of Technologic Dentistry
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• v.27 no.1
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• pp.27-39
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• 2005

This study is to show the qualitative analytic methods of facial asymmetry with three-dimensional morphometry and find out asymmetry change resulted from enlarging three local regions. Steel balls (1.2mm in diameter) were attached in twenty seven landmarks of a symmetrical artificial human skull. This artificial human skull was used as experimental materials. Twelve different asymmetrical artificial human skulls were formed by gradually enlarging the mandibular body length, gonial angle, and ramus height of the left hemiface. From the three-dimensional morphometry of each skull type, nine local area measurements and three total sum area measurements(representing the mandibular area, maxillary area, and lower facial area) were acquired and made into the surface area asymmetry degree. Menton deviation itself was used as the surface area asymmetry degree while right-left percentages were used in the other measurements. These surface area asymmetry degrees were compared with each other to find out asymmetry change according to the degree of actual facial asymmetry. Through the statistical analysis, following results were obtained. The results were as follows: 1. Left maxillary area of artificial human skull was 7.13$\pm$0.26% larger while mandibular area was 4.14$\pm$0.12% smaller than each those of right hemiface. After all, left lower facial area was 1.44$\pm$0.07% larger than those of right hemiface.(n=7). 2. Among the reduce rates of surface area asymmetry degree resulted from enlarging three local regions, ramus height was similar to mandibular body length while it was bigger than those of gonial angle. 3. Among the increase rates of menton deviation resulted from enlarging the local regions, ramus height was the biggest, mandibular body length was the second and gonial angle was the smallest. These results suggest that three-dimensional morphometry can be used to qualitatively analyse facial asymmetry and the asymmetry degree is more influenced by enlarging the ramus height, mandibular body length than those of gonial angle.

• ETRI Journal
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• v.29 no.2
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• pp.189-200
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• 2007

This paper addresses the localization and navigation problem in the movement of service robots by using invisible two dimensional barcodes on the floor. Compared with other methods using natural or artificial landmarks, the proposed localization method has great advantages in cost and appearance since the location of the robot is perfectly known using the barcode information after mapping is finished. We also propose a navigation algorithm which uses a topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls, and many static obstacles. The proposed algorithm also has the advantage that errors which occur in each node are mutually independent and can be compensated exactly after some navigation using barcodes. Simulation and experimental results were performed to verify the algorithm in the barcode environment, showing excellent performance results. After mapping, it is also possible to solve the kidnapped robot problem and to generate paths using topological information.