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( Sho Igarashi ),( Yutaka Kaizu ),( Kenji Imou ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
In recent years, robotic technology has been adopted in agriculture to improve productivity and competitiveness. Precise and robust environmental perception is an important requirement to resolve issues such as safe interaction with obstacle and localization for autonomous robot vehicle. Accordingly, we propose the use of a Simultaneous Localization and Mapping algorithm, to generate local maps of agricultural fields. In our study, the 3D data required for the mapping process were collected using 3D LiDAR(Velodyne VLP-16). The resulting 3D map is formed by a 3D point cloud data, and its distance accuracy was evaluated. Evaluation of distance accuracy was made by comparing with positioning data with absolute coordinates measuring by dual-frequency Global Navigation Satellite System(GNSS). The results show that the mean deviation error and RMSE are approximately 0.03 m and 0.13 m, respectively. We conclude that our 3D point clouds maps have acceptable quality and can support process automation of fields by autonomous robot vehicle.
Terakado Toshitsugu,Nakai Yasunobu,Ikeda Go,Tsukada Kazuaki,Hanai Sho,Akutagawa Kazuki,Igarashi Haruki,Konishi Takahiro,Shiigai Masanari,Uemura Kazuya 대한신경중재치료의학회 2020 Neurointervention Vol.15 No.2
We herein report a case of a ruptured vertebral artery dissecting aneurysm involving the origin of the posterior inferior cerebellar artery that was treated using the stent-jack technique. After parent artery occlusion of the distal vertebral artery, stenting of the posterior inferior cerebellar artery was performed. Further coiling was needed because distal vertebral artery recanalization occurred due to transformation of the coil mass. The stent-jack technique for a ruptured vertebral artery dissecting aneurysm involving the origin of the posterior inferior cerebellar artery is effective; however, careful attention to recanalization after stenting is needed due to transformation of the coil mass.