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스케일 불변 특징을 이용한 이동 로봇의 위치 추정 및 매핑
이종실,신동범,권오상,이응혁,홍승홍,Lee, Jong-Shill,Shen, Dong-Fan,Kwon, Oh-Sang,Lee, Eung-Hyuk,Hong, Seung-Hong 한국전기전자학회 2005 전기전자학회논문지 Vol.9 No.1
로봇이 자율주행을 하는데 있어 중요한 요소는 로봇 스스로 위치를 추정하고 동시에 주위 환경에 대한 지도를 작성하는 것이다 본 논문에서는 스케일 불변 특정을 이용한 비전 기반 위치 추정 및 매핑 알고리즘을 제안한다. 로봇에 어안렌즈가 부착된 카메라를 천정을 바라볼 수 있도록 부착하여 스케일 불변 특정을 갖는 고급의 영상 특정을 구하여 맹 빌딩과 위치 추정을 수행한다. 먼저, 전처리 과정으로 어안렌즈를 통해 입력된 영상을 카메라 보정을 행하여 축방향 왜곡을 제거하고 레이블링과 컨벡스헐을 적용하여 천정영역과 벽영역으로 분할한다 최초 맵 빌딩시에는 분할된 영역에 대해 특정점을 구하고 맵 데이터베이스에 저장한다. 맵 빌딩이 종료될 때까지 연속하여 입력되는 영상에 대해 특정점들을 구하고 이미 작성된 맵과 매칭되는 점들을 찾고 매칭되지 않은 점들에 대해서는 기존의 맴에 추가하는 과정을 반복한다. 위치 추정은 맵 빌딩과정에서 매칭되는 점들을 찾을 때 동시에 수행되어 진다. 그리고 임의의 위치에서 기존의 작성된 맵과 매칭되는 점들을 찾음으로서 위치 추정이 행해지며 동시에 기존의 맵 데이터베이스의 특정점들을 갱신하게 된다. 제안한 방법은 $50m^2$의 영역에 대해 맵 빌딩을 2 분내에 수행할 수 있었으며, 위치의 정확도는 ${\pm}13cm$, 위치에 대한 로봇의 자세(각도)는 ${\pm}3$도의 오차를 갖는다. A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.
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이종실,김활웅,이정희,윤희상,정운태,고경혁 대한병리학회 2003 Journal of Pathology and Translational Medicine Vol.37 No.1
Background : It has been believed that there is a pure mucus-secreting cardiac mucosa (CM), about 2 cm in length, below the gastroesophageal junction. However, recent reports suggest that CM might not be located at the most proximal portion of the stomach. The purpose of this study is to investigate the relationships between the types of proximal gastric mucosa and patients’age, sex, their condition regarding the Helicobacter pylori infection, and severity of chronic gastritis. Methods : Two pieces of mucosal tissue from the most proximal portion of the stomach and the antrum of 44 pediatric and 85 adult patients were examined using a light microscope. A rapid urease test was performed on the other antral specimen from each patient. Results : In 46 (90.2%) out of 51 patients with aged 30 or under, only the pure acid-secreting oxyntic mucosa (OM) was present at the most proximal portion of the stomach. The cardiac or mixed oxyntocardiac mucosa (OCM) increased in prevalence with age. The CM or OCM was found more frequently in patients with H. pylori infection or severe gastritis than in those without H. pylori infection or those with mild gastritis. However, there were no statistically significant differences within the same age groups. Conclusions : Although the OCM is sometimes present at the most proximal portion of the stomach, the CM is absent or rare in individuals under the age of 30. The OCM or CM increases in prevalence with age. There are no direct relationships between the type of proximal gastric mucosa and a patient’s gender, his/her condition regarding the H. pylori infection, and severity of chronic gastritis.
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자궁목 병변에서 p16, p53 단백과 Ki-67의 발현
이종실,신정규,고경혁,이정희,김활웅 대한병리학회 2004 Journal of Pathology and Translational Medicine Vol.38 No.4
Background : Prior studies of p16, p53, and Ki-67 expression have suggested that these markers may be preferentially expressed in cervical neoplasms. The purpose of this study was to assess the expression and clinical significance of p16, p53 proteins, and the Ki-67 labeling index in the cervical lesions. Methods : We analyzed 54 uterine cervical specimens obtained by surgical biopsy. The expression of p16, p53 proteins, and Ki-67 was evaluated by immunohistochemical methods. The immunohistochemical findings were then correlated with the histologic diagnosis. Results : Positive scores for p16, p53, and Ki-67 were seen in 75% (6/8), 0% (0/8), and 13% (1/8) of low grade intraepithelial lesions (LSIL), respectively, and 100% (23/23), 17% (4/23), and 74% (17/23) of high grade intraepithelial lesions (HSIL), respectively, and 100% (10/10), 20% (2/10), and 70% (7/10) of invasive squamous cell carcinomas, respectively. Both normal epithelium and inflammatory lesions scored negative for these three markers in all of the 13 cases. p16 and Ki-67 expression correlated with the severity of uterine cervix lesions. Conclusions : p16 and Ki-67 are complementary surrogate biomarkers for cervical squamous intraepithelial neoplasia. However, immunohistochemical expression for p53 has no correlation with the grade of cervical squamous intraepithelial neoplasia.
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이종실,이응혁,김인영,김선일 대한전자공학회 2006 電子工學會論文誌-SC (System and control) Vol.43 No.3
Obstacle detection is an important task for many mobile robot applications. The methods using stereo vision and optical flow are computationally expensive. Therefore, this paper presents a vision-based obstacle detection method using only two view images. The method uses a single passive camera and odometry, performs in real-time. The proposed method is an obstacle detection method using 3D reconstruction from two views. Processing begins with feature extraction for each input image using Dr. Lowe’s SIFT(Scale Invariant Feature Transform) and establish the correspondence of features across input images. Using extrinsic camera rotation and translation matrix which is provided by odometry, we could calculate the 3D position of these corresponding points by triangulation. The results of triangulation are partial 3D reconstruction for obstacles. The proposed method has been tested successfully on an indoor mobile robot and is able to detect obstacles at 75msec. 이동 로봇의 많은 응용분야에서 장애물을 검출하는 것은 중요한 요소이다. 스테레오 비전과 광류를 이용하여 장애물을 검출하는 방법은 복잡한 연산을 요구하므로 본 논문에서는 단지 두 장면의 영상만을 이용하여 비전 기반 장애물 검출 방법을 제시하고 단일 카메라와 주행거리계를 사용하여 실시간 처리가 가능하도록 하였다. 제안한 방법은 두 장면으로부터 3차원 복원을 수행함으로서 장애물을 검출하는 방법으로 먼저 두 장면의 입력영상 각각에 대하여 Lowe의 SIFT를 사용하여 특징점을 추출하고 이들 간의 대응점을 구한다. 그리고 주행거리계로부터 주어지는 회전과 병진행렬 값들과 삼각법을 이용하여 대응점들에 대한 3차원 위치를 구한다. 이렇게 삼각법에 의해 얻어진 결과는 장애물들에 대한 부분적인 3차원 복원을 의미한다. 제안한 방법은 실내에서 주행하는 이동 로봇에 적용하였을 때 좋은 결과를 얻을 수 있었으며, 75msec의 속도로 장애물을 검출할 수 있었다.
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이종실,Dae Hyun Song,Jung Wook Yang,김동출,이정희,고경혁 대한암예방학회 2008 Journal of cancer prevention Vol.13 No.2
A cyclin-dependent kinase (CDK) 4 inhibitor (p16INK4) gene located at 9p21 has been shown to be inactivated in a variety of tumors by homozygous deletions, point mutations, or hypermethylation of its promoter region. The etiologic role of the cdk inhibitor p16INK4a tumor suppressor protein in breast cancer remains unclear. This study attempts to assess the methylation pattern of p16^INK4a gene and its correlation with the expression of p16^INK4a and to determine, by comparing the correlation between other standard immunohistochemical parameters (Cerb B2, estrogen receptor, progesteron receptor, p53, and Ki-67) and clinicopathological features, the significance of p16INK4a methylation and p16^INK4a immunohistochemical expression in breast carcinoma. Immunohistochemical p16^INK4a expression was found in 21 (42%) of 50 cases. There was a correlation between loss of p16INK4a expression and advanced stage (p=.016). p16INK4a promoter methylation was found in 72%. Twenty-three (79.3%) of 29 tumors with loss of expression of p16^INK4a in immunohistochemistry showed DNA methylation of the p16^INK4a gene. Loss of p16^INK4a expression was related with high stage breast tumors and p16^INK4a promoter hypermethylation was the main mechanism of loss of p16INK4a expression. (Cancer Prev Res 13, 85-90, 2008)
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A Composite Peripheral T-Cell Lymphoma and Anaplastic Variant of Diffuse Large B-Cell Lymphoma
이종실,고경혁,Jung Wook Yang,김동출,이정희,Gyeong-Won Lee 대한암예방학회 2010 Journal of cancer prevention Vol.15 No.3
We report a rare case of a composite lymphoma consisting of peripheral T-cell lymphoma (PTCL),not otherwise specified (NOS), and an anaplastic variant of diffuse large B-cell lymphoma (DLBCL)associated with Epstein-Barr virus (EBV) infections in the 47-year-old man. The patient initially sought care at a local hospital with a single enlarged cervical lymph node. Histologic examination disclosed EBV-associated PTCL. Chemotherapy and autologous stem cell transplantation resulted in complete remission. After 5 years, the patient was readmitted due to generalized lymphadenophathy. The biopsy of the cervical lymph node showed PTCL. He underwent chemotherapy treatment, but an inguinal lymph node grew in size. The lymph node showed partial involvement of DLBCL in addition to PTCL. Many lymphocytes in the B-cell lymphoma and T-cell lymphoma showed positivity for EBV. This case suggests that EBV may have contributed to the development of a composite EBV-associated B-cell lymphoma and T-cell lymphoma.
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