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Sliding Window based Landmark Extraction for Indoor 2D SLAM Using Forward-Looking Monocular Camera
Heewon Chae,Chansoo Park,Jae-Bok Song 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this study, we propose a method to extract landmarks for pose-graph SLAM using only the forward-looking monocular camera mounted in a small mobile robot. By using the sliding window approach, the region of interest is determined to triangulate the landmarks. The landmark extraction process uses multiple sets of bearing information for triangulation. As the landmark is extracted, choose the landmark which is near the navigation plane to project into the 2D landmark node. To test its accuracy, the laser rangefinder is used as a ground truth. Also the various sliding window sizes are tried for a landmark to investigate the effect of the window size on the accuracy. Using this approach as landmark extraction for the SLAM algorithm, we expect to implement monocular based metric SLAM with the graph based back-end optimization.
Slippage Detection and Pose Recovery for Upward-Looking Camera-Based SLAM Using Optical Flow
Heewon Chae,Jae-Bok Song 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper deals with slippage detection and pose recovery during the SLAM process of mobile robot navigation. Mobile robots do not have a successful solution to recover when localization fails due to slippage. Unexpected inputs such as wheel slippage lead to false prediction during the SLAM process. In this paper, minimizing the risk of localization failure is proposed by applying optical flow to the ceiling image sequences as a slippage detector. The optical flow-based motion estimation results are applied to the prediction step of EKF-SLAM. Using optical flow, we can calculate a homogenous 2D affine transformation matrix. From this matrix we can calculate the relative pose between the two frames. The reliable motion estimation from the vision sensor enables slip detection during the prediction phase of EKF SLAM. The proposed method was successfully verified by several experiments with deliberate slippage in real environments.
최고경영진의 인구통계학적 특성이 하이테크 기업의 기술적 혁신에 미치는 영향
채희원(Heewon Chae),송재용(Jaeyong Song) 한국전략경영학회 2009 전략경영연구 Vol.12 No.2
본 연구는 지식기반 하이테크 기업의 기술적 혁신을 용이하게 해주는 최고경영진(top management team)의 특성을 밝히는 데에 초점을 맞추고 있다. 본 연구는 상층부이론(upper-echelons theory)을 이용하여 최고 경영진의 인구통계학적 특성이 기업의 기술적 혁신의 성과에 영향을 미친다는 가설을 제시하였다. 2000년도 미국의 라디오 텔레비전 방송 통신 장비산업에 속한 108개의 기업을 대상으로 음이항 회귀분석을 실시한 실증분석 결과 최고경영진의 평균연령은 기술적 혁신과 부적인 관계를 갖는 반면, 최고경영진의 조직근무연한, 과학 및 공학 전문가 비율, 법률분야 종사경험자의 비율은 기술적 혁신 창출과 정적인 관계를 가짐이 드러났다. 본 연구는 그 동안 상층부이론에서 구체적으로 다루어지지 않은 기술집약적 하이테크 기업의 기술적 혁신에 대한 실증분석을 실시함으로써 지식 집약적 특징을 가진 하이테크 산업에서의 최고경영진의 특성이 기업성과에 미치는 영향이 다른 산업에서와는 다른 양상을 띨 수 있음을 보여주고 있다. 더 나아가 최고경영진 특성에 영향을 받는 조직학습 메커니즘에 대한 향후 연구의 방향을 제시하였다는데 본 연구의 의의가 있다. This study investigates top management team characteristics which facilitate technological innovations of high-technology, knowledge-intensive firms. Using the upper-echelons theory, we hypothesize that demographic variables of top management team (TMT) members will affect the firm’s technological innovation outcomes measured in terms of patents. Results from the negative binomial regression indicate that average age of top team members is negatively related to the technological innovations whereas average organizational tenure, the proportion of science and engineering specialists, and the proportion of top team members with legal expertise positively affect the creation of technological innovation. By examining patents as the output of technological innovation activities, which has rarely been the focus of research streams of the upper-echelons theory, this study shows that top executives in high-technology firms exert different influence on firm performance from those in other industries. This study links the empirical gap between the upper-echelons theory and the knowledge management literature, providing a new avenue for future research on the organizational learning mechanism affected by TMT characteristics.
Development of Korean Rare Disease Knowledge Base
Seo, Heewon,Kim, Dokyoon,Chae, Jong-Hee,Kang, Hee Gyung,Lim, Byung Chan,Cheong, Hae Il,Kim, Ju Han Korean Society of Medical Informatics 2012 Healthcare Informatics Research Vol.18 No.4
<P><B>Objectives</B></P><P>Rare disease research requires a broad range of disease-related information for the discovery of causes of genetic disorders that are maladies caused by abnormalities in genes or chromosomes. A rarity in cases makes it difficult for researchers to elucidate definite inception. This knowledge base will be a major resource not only for clinicians, but also for the general public, who are unable to find consistent information on rare diseases in a single location.</P><P><B>Methods</B></P><P>We design a compact database schema for faster querying; its structure is optimized to store heterogeneous data sources. Then, clinicians at Seoul National University Hospital (SNUH) review and revise those resources. Additionally, we integrated other sources to capture genomic resources and clinical trials in detail on the Korean Rare Disease Knowledge base (KRDK).</P><P><B>Results</B></P><P>As a result, we have developed a Web-based knowledge base, KRDK, suitable for study of Mendelian diseases that commonly occur among Koreans. This knowledge base is comprised of disease summary and review, causal gene list, laboratory and clinic directory, patient registry, and so on. Furthermore, database for analyzing and giving access to human biological information and the clinical trial management system are integrated on KRDK.</P><P><B>Conclusions</B></P><P>We expect that KRDK, the first rare disease knowledge base in Korea, may contribute to collaborative research and be a reliable reference for application to clinical trials. Additionally, this knowledge base is ready for querying of drug information so that visitors can search a list of rare diseases that is relative to specific drugs. Visitors can have access to KRDK via http://www.snubi.org/software/raredisease/.</P>