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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.
Metastases to the skin from internal malignancy are very rare and have been reported to occur in 0.9% to 8% of patients with cancer. Particularly there are few cutaneous metastatic carcinomas from the urinary bladder and their incidence is 1% to 2% of the cutaneous metastasis. A 76-year-old man developed cutaneous metastasis six months later after the diagnosis of carcinoma of the bladder had been made. He was presented with asymptomatic erythematous indurated plaques on the left thigh and the inguinal area. This lesion was diagnosed histologically as poorly differentiated transitional cell carcinoma. We report a case of cutaneous metastasis from carcinoma of the urinary bladder showing the unusual clinical feature of an erythematous indurated plaque.