• Advances in robotics research
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• v.2 no.2
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• pp.141-149
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• 2018

In image processing and robotic applications, two-dimensional (2D) black and white patterned planar markers are widely used. However, these markers are not detectable in low visibility environment and they are not changeable. This research proposes an active and adaptive marker node, which displays 2D marker patterns using light emitting diode (LED) arrays for easier recognition in the foggy or turbid underwater environments. Because each node is made to blink at a different frequency, active LED marker nodes were distinguishable from each other from a long distance without increasing the size of the marker. We expect that the proposed system can be used in various harsh conditions where the conventional marker systems are not applicable because of low visibility issues. The proposed system is still compatible with the conventional marker as the displayed patterns are identical.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.353-364
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• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.2
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• pp.191-198
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• 2015

In this paper, six-degree-of-freedom (DoF). Displacement measurement technique using a compact stereo-vision system is proposed. The measuring system consists of a camera, an optical prism, two plane mirrors, and a planar marker on a target. The target was attached on an object so that its six-DoF displacement can be calculated using a proposed coordinates estimating algorithm and stereo images of the marker. A prototype was designed and fabricated for performance test. From the test results, it can be confirmed that the proposed measuring technique can be applied to monitoring and control of various manipulators.

• The Journal of the Korea Contents Association
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• v.10 no.5
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• pp.20-28
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• 2010

In this paper, we propose a hand gesture interface for the manipulation of augmented objects in 3D space using a camera. Generally a marker is used for the detection of 3D movement in 2D images. However marker based system has obvious defects since markers are always to be included in the image or we need additional equipments for controling objects, which results in reduced immersion. To overcome this problem, we replace marker by planar hand shape by estimating the hand pose. Kalman filter is for robust tracking of the hand shape. The experimental result indicates the feasibility of the proposed algorithm for hand based AR interfaces.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.11
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• pp.1131-1135
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• 2010

This paper presents a method to capture the posture of the human lower-limbs on the 3D space by using a single camera and a planar mirror. The system estimates the pose of the camera facing the mirror by using four coplanar IR markers attached on the planar mirror. After that, the training space is set up based on the relationship between the mirror and the camera. When a patient steps on the weight board, the system obtains relative position between patients' feet. The markers are attached on the sides of both legs, so that some markers are invisible from the camera due to the self-occlusion. The reflections of the markers on the mirror can partially resolve the above problem with a single camera system. The 3D positions of the markers are estimated by using the geometric information of the camera on the training space. Finally the system estimates and visualizes the posture and motion of the both legs based on the 3D marker positions.

• Smart Structures and Systems
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• v.20 no.4
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• pp.397-413
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• 2017

Precast concrete (PC) members are currently being employed for general construction or partial replacement to reduce construction period. As assembly work in PC construction requires connecting PC members accurately, measuring the 6-DOF (degree of freedom) relative displacement is essential. Multiple planar markers and camera-based displacement measurement systems can monitor the 6-DOF relative displacement of PC members. Conventional methods, such as direct linear transformation (DLT) for homography estimation, which are applied to calculate the 6-DOF relative displacement between the camera and marker, have several major problems. One of the problems is that when the marker is partially hidden, the DLT method cannot be applied to calculate the 6-DOF relative displacement. In addition, when the images of markers are blurred, error increases with the DLT method which is employed for its estimation. To solve these problems, a hybrid method, which combines the advantages of the DLT and MCL (Monte Carlo localization) methods, is proposed. The method evaluates the 6-DOF relative displacement more accurately compared to when either the DLT or MCL is used alone. Each subsystem captures an image of a marker and extracts its subpixel coordinates, and then the data are transferred to a main system via a wireless communication network. In the main system, the data from each subsystem are used for 3D visualization. Thereafter, the real-time movements of the PC members are displayed on a tablet PC. To prove the feasibility, the hybrid method is compared with the DLT method and MCL in real experiments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5854-5860
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• 2014

The on-site performance of a vision-based displacement measurement system (VDMS) was evaluated through a field test on a bridge. The VDMS used in this study is composed of a camera, a marker, a frame grabber, and a laptop. The system measures the displacement by attaching a marker at the location to be measured on the structure, by capturing images of that marker with a fixed rate, and by processing a series of images using a planar homography technique. The developed system was first validated from a laboratory test using a small-scale building structure. The VDMS was then employed in a field test on a railroad bridge with a KTX train running under various conditions. The on-site performance was evaluated by comparing the obtained displacement using the VDMS with the displacement measured from a laser Doppler vibrometer (LDV), which is an expensive and accurate displacement measurement device.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.4
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• pp.49-58
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• 2011

Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. The traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D features to its feature map, and these then provide registration even when the reference map is out of the sensing range. In this paper, we describe a real-time camera tracking framework specifically designed to track a monocular camera in a desktop workspace. Basic idea of the proposed scheme is that a real-time camera tracking is achieved on the basis of a plane tracking algorithm. Also we suggest a method for re-detecting features to maintain registration of virtual objects. The proposed method can cope with the problem that the features cannot be tracked, when they go out of the sensing range. The main advantage of the proposed system are not only low computational cost but also convenient. It can be applicable to an augmented reality system for mobile computing environment.

• The Korean Journal of Nuclear Medicine
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• v.27 no.2
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• pp.218-222
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• 1993

Lung/heart uptake ratio (L/H R) in $^{201}Tl$ myocardial perfusion scan is a reliable marker for long-term prognosis in patients with coronary artery disease. However, the value of L/H R in $^{99m}Tc-MIBI$ myocardial perfusion scan is controversial in determining the prognosis and severity of the coronary artery disease. The purpose of this study was to determine the clinical implications of L/H R in $^{99m}Tc-MIBI$ myocardial perfusion scan. Forty five patients who received $^{99m}Tc-MIBI$ myocardial perfusion scan were divided into control group and coronary artery disease (CAD) group by their clinical findings, EKGs, and $^{99m}Tc-MIBI$ myocardial perfusion scans. Twenty five patients in CAD group were divided into ischemic group and infarct group according to their results from $^{99m}Tc-MIBI$ myocardial perfusion scan. L/H R was calculated on the anterior planar view, 60 minutes after infusion of dipyridamole. Two regions of interest (ROI) were placed on the left lung area 8 pixel above the left ventricle and on the myocardial area which had the highest radioactivity. In the control group, there were no significant differences of L/H R according to sex and age. No significant difference of L/H R was found between the control and CAD group ($0.26{\pm}0.06,\;0.29{\pm}0.05$, p>0.05). In the CAD group, there was also no significant difference of L/H R between the ischemic group and infarct group ($0.29{\pm}0.07,\;0.30{\pm}0.04$, p>0.05). L/H R in CAD group did not show correlations with the defect area of stress polar map (r=0.18, p >0.05) and with the sum of severity weighted extent score or reversibility score which represent severity and extent of myocardial perfusion defect area in stress (r=0.18, p>0.05). We conclude that it is difficult to use L/H R as a marker for severity of CAD in dipyridamole $^{99m}Tc-MIBI$ myocardial perfusion scan.

• Natural Product Sciences
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• v.26 no.3
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• pp.230-235
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• 2020

A pregnane steroid, 3α-hydroxy-pregn-7-ene-6,20-dione (1), was isolated from a Hydractinia-associated Cladosporium sphaerospermum SW67 by repetitive column chromatographic separation and high-performance liquid chromatography (HPLC) purification. The planar structure of 1 was elucidated from the analysis of the spectroscopic data (1D and 2D NMR spectra) and LC-MS data. The absolute configuration of 1 was determined by interpretation of ROESY spectrum of 1, together with the comparison of reported spectroscopic values in previous studies. To the best of our knowledge, this is the first report of the identification of the pregnane scaffold from C. sphaerospermum, a natural source. Compound 1 was evaluated for its effects on lipid metabolism and adipogenesis during adipocyte maturation and showed that compound 1 substantially inhibited lipid accumulation compared to the control. Consistently, the expression of the adipocyte marker gene (Adipsin) was reduced upon incubation with 1. Further, we evaluated the effects of 1 on lipid metabolism by measuring the transcription of lipolytic and lipogenic genes. The expression of the lipolytic gene ATGL was significantly elevated upon exposure to 1 during adipogenesis, whereas the expression of lipogenic genes FASN and SREBP1 was significantly reduced upon treatment with 1. Thus, our findings provide experimental evidence that the steroid derived from Hydractinia-associated C. sphaerospermum SW67 is a potential therapeutic agent for obesity.