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3D-Lidar 기반 도로 반사도 지도와 IPM 영상을 이용한 위치추정
정태기(Tae-Ki Jung),송종화(Jong-Hwa Song),임준혁(Jun-Hyuck Im),이병현(Byung-Hyun Lee),지규인(Gyu-In Jee) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.12
Position of the vehicle for driving is essential to autonomous navigation. However, there appears GPS position error due to multipath which is occurred by tall buildings in downtown area. In this paper, GPS position error is corrected by using camera sensor and highly accurate map made with 3D-Lidar. Input image through inverse perspective mapping is converted into top-view image, and it works out map matching with the map which has intensity of 3D-Lidar. Performance comparison was conducted between this method and traditional way which does map matching with input image after conversion of map to pinhole camera image. As a result, longitudinal error declined 49% and complexity declined 90%.
유전성 구형적혈구증에 동반한 만성 통풍성 관절염 1 예 보고
김대현(Dae Hyun Kim),정태기(Tae Ki Jung),이재광(Jae Kwang Lee),김형곤(Hang Gon Kim),송영수(Young Su Song),경쾌수(Kae Su Kyeong),이윤우(Yun Woo Lee) 대한내과학회 1995 대한내과학회지 Vol.49 No.3
Gout is known to show such as an increase in the serum urate concentration, recurrent attacks of a characteristic acute arthritis, in which crystals of monosodium urate monohydrate are demonstrable in leukocytes of synovial fluid, tophi chiefly in and around the joints of the extrimities and sometimes leading to severe crippling and deformity, renal disease involving interstitial tissues and blood vessels, and uric acid nephrolithiasis. We report a case of gout associated with hereditary spherocytosis of which any official report couldn't be found in the world literatures. A 31 year old man was hospitalized because of recurrent multiple joint pain and multiple joint deformities. He had multiple periarticular tophi, and the joints in hands and feet were deformed. The hemoglobin level was 4.7 gm/dl, hematocrit 12.5%, total and direct bilirubin level were 4.0 mg/dl and 0.8 mg/dl, serum uric acid level was 8.3 mg/dl, and the uric acid excretion in 24 hour urine was 773 mg/day. In abdominal ultrasonography, the kidney showed thinning of the cortex, homogeneously incresed echogenicity of medulla and the liver and spleen were markedly enlarged, and several stones were found in gall bladder. The renal function was normal. In peripheral blood smear 10-15 spherocytes were seen per high power field. The osmotic fragility curve revealed uniformly increased osmotic fragility in osmotic fragility test of incubated red cells. From these data we think that the overproduction of uric acid due to the hereditary spherocytosis and the idiopaihic underexcretion of uric acid in the kidney caused chronic tophaceous arthritis and urate nephropthy.
최영동(Yeong-Dong Choi),김규원(Kyu-Won Kim),정태기(Tae-Ki Jung),서성훈(Seong-Hun Seo),지규인(Gyu-In Jee) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.12
Indoor-Outdoor navigation systems are essential for unmanned vehicles. If navigation results are provided indoors and outdoors, the moving range of the unmanned vehicle is widened. For example, an unmanned vehicle can travel not only on the road but also inside buildings with an indoor-outdoor navigation system. This broadens the range of services that an unmanned vehicle can provide. Outdoor navigation system typically uses the Global Positioning System (GPS). GPS outputs are based on the geodetic coordinate system. In contrast, the indoor environment is a GPS signal shadow area. It is possible to create indoor navigation systems mainly using LiDAR, Camera, IMU, etc. However, unlike GPS, these sensors use the relative coordinate system. This coordinate system has a disadvantage in that even for the same trajectory, the coordinate values are different depending on the starting pose. As above, the indoor and outdoor coordinate systems are inconsistent with each other. To overcome this, a system that can navigate not only outdoors but also indoors based on an absolute coordinate system is needed. We implemented a GPS with visual inertial Odometry (GPS/VIO) system that integrates the indoor and outdoor coordinate systems into an absolute coordinate system. This system also solves the problem of the accumulation of position errors of VIO over time. The GPS/VIO system is implemented using the nonlinear optimization method. An experiment was conducted indoors and outdoors. The trajectory was drawn in Google Earth to verify that the navigation results were generated correctly in the absolute coordinate system.