• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• The Journal of Advanced Prosthodontics
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• v.12 no.3
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• pp.107-113
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• 2020

PURPOSE. The aim of this study was to examine the importance of the defect-free scanning of a scan body by assessing the accuracy of virtual implant positioning in computer-aided design (CAD) software when the scan body image is improperly scanned. MATERIALS AND METHODS. A scan body was digitized in a dentiform model using an intraoral scanner, and scanned images with differing levels of image deficiency were generated: 5%, 10%, and 15% deficiency in the flat or rounded area. Using a best-fit image matching algorithm on each of the deficient scan body images, corresponding virtual implants were created. The accuracy of the implant position was evaluated by comparing the linear and angular discrepancies between the actual and virtual positions of the implant. Kruskal-Wallis tests and Mann-Whitney U tests with Bonferroni correction were used to determine the statistical differences among the seven scanned image deficiency groups (α=.05). RESULTS. In general, the linear and angular discrepancies of the implant position in the software increased as the deficiency of the scan body images increased. A 15% scan body image deficiency generated larger discrepancies than deficiency of 5% and 10%. The difference of scan defect position, flat or rounded area, did not affect the accuracy of virtual implant orientation at 5% and 10% deficiency level, but did affect the accuracy at 15% deficiency level. CONCLUSION. Deficiencies in the scanned images of a scan body can decrease the accuracy of the implant positioning in CAD software when the defect is large, thus leading to the incorrect fabrication of implant prostheses.

• Journal of Korea Multimedia Society
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• v.10 no.11
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• pp.1439-1445
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• 2007

In this paper, we propose a fast motion estimation algorithm using initial matching errors by sorting square sub-blocks to find complex sub-block area adaptively based on partial calculation of SAD(sum of absolute difference) while keeping the same prediction quality compared with the PDE(partial distortion elimination) algorithm. We reduced unnecessary calculations with square sub-block adaptive matching scan based initial SAD calculation of square sub-block in each matching block. Our algorithm reduces about 45% of computations for block matching error compared with conventional PDE(partial distortion elimination) algorithm without any degradation of prediction quality, and for algorithm will be useful to real-time video coding applications using MPEG-4 AVC or MPEG-2.

• Korean Management Science Review
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• v.25 no.3
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• pp.59-72
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• 2008

This paper proposes an R&D opportunity scan framework for information and telecommunications company in aging society. The framework consists of trend analysis, market-oriented search, technology-oriented search, and R&D Portfolio development. We identify technology themes in the market-oriented search by developing market scenarios and analyzing a new business model framework. And then we search prospective technologies in the technology-oriented recess by technology scanning and patent analysis. By matching technology themes with prospective technologies, generate an R&D portfolio. Finally, we evaluate the risk of the proposed R&D portfolio.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.117-120
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• 2004

본 논문에서는 시계열 데이터베이스에서 타임 워핑 하의 서브시퀀스 매칭을 효과적으로 처리하는 방안에 관하여 논의한다. 타임 워핑은 데이터베이스내 시퀀스들의 길이가 서로 다른 경우에도 유사한 패턴을 갖는 시퀀스들을 찾을 수 있도록 해 준다. 본 논문에서는 타임 워핑 하의 서브시퀀스 매칭을 위한 기존의 기본 처리 방식인 Naive-Scan의 CPU 처리 과정을 최적화하는 새로운 기법을 제안한다. 제안된 기법은 질의 시퀀스와 서브시퀀스들 간의 타임 워핑 거리들을 계산하는 과정에서 발생하는 중복 작업들을 사전에 제거함으로써 CPU 처리 성능을 극대화한다. 제안된 기법이 착오 기각을 발생시키지 않음과 Naive-Scan을 처리하기 위한 최적의 기법임을 이론적으로 규명한다. 또한, 다양한 실험을 통한 성능 평가에 의하여 제안된 최적화 기법이 가져오는 성능 개선 효과를 정량적으로 검증한다. 아울러, 제안된 기법이 기존의 여과 단계를 포함하는 방식인 LB-Scan과 ST-Filter의 후처리 단계에도 성공적으로 적용될 수 있음을 보인다.

• The Korean Journal of Nuclear Medicine
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• v.28 no.1
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• pp.89-97
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• 1994

Although bone scan is a highly sensitive test for detecting bone metastasis, its findings are often limited in specificity and cannot be used for assessing the bone marrow. Bone marrow scintigraphy may provide useful information but previous experience with radiolabelled colloid has been disappointing. Recently, $^{99m}Tc$ labeled anti-granulocyte monoclonal antibody (anti-NCA-95 MAb) has been introduced as a new bone marrow imaging agent. To evaluate the usefulness of $^{99m}Tc$ anti-NCA MAb bone marrow scans for detecting skeletal metastasis, bone marrow scans of 44 malignant tumor patients were evaluated and compared with bone scan findings. Bone scan showed abnormal lesions in 26(59%) cases, and 18 of these patients also had an abnormal bone marrow scan. Seven of the 8 patients who had normal bone marrow scan despite bone scan lesions were confirmed to be free from metastasis. There was one case with a marrow defect despite normal bone scan but the presence of metastasis was not determined due to loss of follow up. Bone scan demonstrated a total of 64 lesions while bone marrow scan showed 38 lesions. Fifty percent (32/64) of the bone scan lesions had matching marrow defects while the remaining 50% did not. Most of these non matched lesions were suggested to be nonspecific lesions such as rib fractures or degenerative change. Meanwhile bone marrow scan was able to detect 6 new lesions not detected by bone scan, bit metastasis in each lesion was not confirmed. Bone marrow scan was also helpful in assessing equivocal bone scan lesions to be of metastatic nature in 10 patients by demonstrating a matched marrow defect. Thus $^{99m}Tc$ anti-NCA MAb bone marrow scan can help exclude metastasis in patients with nonspecific bone scan lesions and may be able to detect metastatic lesions not seen with bone scan. It appears useful as a complementary study to bone scan in evaluating malignant tumor patients.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.2
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• pp.308-314
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• 2006

A line scan camera is applied to enhance COG(Chip On Glass) inspection accuracy to be measured a few micro unit. The foreign substance detection among various faulty factors has been the most difficult technology in the faulty automatic inspection step since COG pattern is very miniature and complexity. In this paper, we proposed two step area segmentation template matching method to increase matching speed. Futhermore to detect foreign substance(such as dust, scratch) with a few micro unit, the new method using gradient mask and AND operation was proposed. The proposed 2 step template matching method increased 0.3 - 0.4 second matching speed compared with conventional correlation coefficient. Also, the proposed foreign substance applied masks enhanced $5-8\%$ faulty detection rate compared with conventional no mask application method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.4A
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• pp.379-386
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• 2007

In this paper, we propose an efficient diagnosis algorithm for multiple stuck-at faults. Because of using vectorwise intersections as an important metric of diagnosis, the proposed diagnosis algorithm can diagnose multiple defects in single stuck-at fault simulator. In spite of multiple fault diagnosis, the number of candidate faults is drastically reduced. For identifying faults, the variable weight, positive calculations and negative calculations are used for the matching algorithm. To verify our algorithm, experiments were performed for ISCAS85 and full-scan version of ISCAS89 benchmark circuits.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.46-52
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• 2016

We propose a new type of semi-global matching (SGM) in order to solve a streaking problem arising from conventional SGM. Conventional SGM imposes a penalty to a pixel when the disparity of the pixel differs from that of the previous pixel along a scan path, and thus, disparity changes are not easily allowed, causing the streaking effect. The road surface is an appropriate target for such an effect, because the colors of the surfaces are very similar, and the image pixels corresponding to the surfaces show disparities that change very smoothly along the viewing direction. In contrast to conventional SGM, the new type of SGM imposes penalties depending on the disparity gradients, and thus, the streaking effect is controlled. The experimental results show the effectiveness of the proposed SGM method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.4
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• pp.700-705
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• 2008

In this paper, we propose object classification algorithm for real-time surveillance system. We have approached this problem using silhouette-based template matching. The silhouette of the object is extracted, and then it is compared with representative template models. Template models are previously stored in the database. Our algorithm is similar to previous pixel-based template matching scheme like Hausdorff Distance, but we use 1D image array rather than 2D regions inspired by Hilbert Path. Transformation of images could reduce computational burden to compute similarity between the detected image and the template images. Experimental results show robustness and real-time performance in object classification, even in low resolution images.