• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.971-982
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• 1989

An integrating position estimation algorithm has been developed for the navigation system of a free-ranging AGV system. The navigation system focused in this research work consists of redundant wheel encoders for the relative position measurement and a vision sensor for the absolute position measurement. A maximum likelihood method and an extended Kalman filter are implemented for enhancing the performance of the position estimator. The maximum likelihood estimator processes noisy, redundant wheel encoder measurements and yields efficient estimates for the AGV motion between each sampling interval. The extended Kalman filter fuses inharmonious positional data from the deadreckoner and the vision sensor and computes the optimal position estimate. The simulation results show that the proposed position estimator solves a generalized estimation problem for locating the vehicle accurately in space.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.123-128
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• 2021

This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.

• Spatial Information Research
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• v.13 no.2 s.33
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• pp.129-138
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• 2005

In this paper, a 3D position tracking algorithm for a moving objects using a stereo CCD cameras was proposed. This paper purposed the method to extract the coordinates of the moving objects. That is improve the operating and data processing efficiency. We were applied the relative orientation far the stereo CCD cameras and image coordinates extraction in the left and right images after the moving object segmentation. Also, it is decided on 3D position far moving objects using an acquired image coordinates in the left and right images. We were used independent relative orientation to decide the relative location and attitude of the stereo CCD cameras and RGB pixel values to segment the moving objects. To calculate the coordinates of the moving objects by space intersection. And, We conducted the experiment the system and compared the accuracy of the results.

• Journal of Oral Medicine and Pain
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• v.14 no.1
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• pp.57-66
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• 1989

66 patients with temporomandibular disorders were selected for experimental group, and 45 normal subjects who were Dental students were selected for control group. Average age of experimental group was 30.5 years, Male to Female ratio was 2 : 3, and their age distribution were teen-ages to seventh decades. Transcranial radiography (TR) with Denar Accurad 100 was used for each group to get the values of width in joint spaces and to investigate the bony changes of articular surfaces and relative condylar position to articular fossa. In addition to TR, clinical interview and routine charting about amount of mandibular movements and occlusal variations were carried out in experimental group. The obtained results were as follows : 1. The mean values of joint space with in control group were 2.15mm to anterior, 2.98mm to superior and 2.29mm to posterior and the value of relative condylar position to the deepest portion of articular fossa was 0.21mm to anterior. In experimental group, those values were 2.01mm, 2.14mm 2.22mm and 0.12mm to posterior in sequence, respectively. Joint spaces in experimental group, therefore, were inclined to decreased, and relative condylar position was inclined to retrude. Joint space in control group showed symmetric condylar position, but in experimental group showed asymmetry. 2. Non-affected joints with no bony changes in experimental group showed the narrowest joint spaces which were thought to manifest the abnormal stress to non-affected side to dysfunctional state of contralateral affected joints. 3. Amount of mandibular movements in experimental group were within normal values in lateral movements and in protrusive movement but in opening movement with or without passive stretch, those were lower than normal values. Frequency of occlusal variation, for example, protrusive posterior contacts, open bite, median line shift to lateral side were inclined to increase with bony changes and with crepitus.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.581-589
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• 2015

This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

• 대한치과교정학회:학술대회논문집
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• 2004.11a
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• pp.29-30
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• 2004

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.59-74
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• 2009

Relative navigation system is presented using GPS measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide the real-time inter-satellite relative positions as well as absolute positions for two formation flying satellites in low earth orbit. To improve the navigation performance, the absolute states are estimated using ion-free GRAPHIC (group and phase ionospheric correction) pseudo-ranges and the relative states are determined using double differential carrier-phase data and singled-differential C/A code data based on the extended Kalman filter and the unscented Kalman filter. Furthermore, pseudo-relative dynamic model and modified relative measurement model are developed. This modified EKF method prevents non-linearity of the measurement model from degrading precision by applying linearization about absolute navigation solutions not about the priori estimates. The LAMBDA method also has been used to improve the relative navigation performance by fixing ambiguities to integers for precise relative navigation. The software-based simulation has been performed and the steady state accuracies of 1 m and 6 mm ($1{\sigma}$ of 3-dimensional difference errors) are achieved for the absolute and relative navigation using EKF for a short baseline leader/follower formation. In addition, the navigation performances are compared for the EKF and the UKF for 10 hours simulation, and relative position errors are mm-level for the two filters showing the similar trends.

• Progress in Medical Physics
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• v.27 no.2
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• pp.79-85
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• 2016

The objective of this study is to increase the accuracy of dose transmission in radiation therapy using two types of treatment tables, standard exact couch (Varian 21EX, Varian Medical Systems, Milpitas, CA) and 6D robotic couch (Novalis, BrainLAB A.G., Heimstetten, Germany)). We examined the dose attenuation based on the two types of treatment tables and studied the dose of attenuation using the phase (In/Out) for the standard exact couch. We measured the relative dose according to the incident angle of a penetrative photon beam under a treatment table. The incident angle of the photon beam was from $0^{\circ}$ to $360^{\circ}$ in the increments of $5^{\circ}$. The reference angle was set to $0^{\circ}$. Furthermore, the relative dose of the 6D robotic couch was measured using 6 MV and 15 MV, and that of the standard exact couch was measured at the sliding rail position (In-Out) using 6 MV and 10 MV. In the case of the standard exact couch, the measured relative dose was 16.53% (rails at the "In position," $175^{\circ}$, 6 MV), 12.42% (rails at the "In position," $175^{\circ}$, 10 MV), 13.13% (rails at the "Out position," $175^{\circ}$, 6 MV), and 9.96% (rails at the "Out position," $175^{\circ}$, 10 MV). In the case of the 6D robotic couch, the measured relative dose was 6.82% ($130^{\circ}$, 6 MV) and 4.92% ($130^{\circ}$, 15 MV). The photon energies were surveyed at the same incident angle. The dose attenuation for an energy of 10 MV was 4~5% lower than that for 6 MV. This indicated that the higher photon energy, lesser is the attenuation. The results of this study indicated that the attenuation rate for the 6D robotic couch was confirmed to be 1% larger than that for the standard exact couch at 6 MV and $180^{\circ}$. In the case of the standard exact couch, the dose attenuation was found to change rapidly in accordance with the phase ("In position" and "Out position") of the sliding rail.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1042-1046
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• 1993

This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.786-791
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• 1992

When a mobile robot moves from one place to another, position error occurs due to the limit of accuracy of robot and the effect of environmental noise. In this paper. an accurate method of estimating the position and orientation of a mobile robot using the camera calibration is proposed. Kalman filter is used as the estimation algorithm. The uncertainty in the position of camera with repect to robot base frame is considered well as the position error of the robot. Besides developing the mathematical model for mobile robot calibration system, the effect of relative position between camera and calibration points is analyzed and the method to select the most accurate calibration points is also presented.