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Existing approaches to template-based visual tracking, in which the objective is to continuously estimate the spatial transformation parameters of an object template over video frames, have primarily been based on deterministic optimization, which as is well-known can result in convergence to local optima. To overcome this limitation of the deterministic(More)
In this paper we present a new vision-based SLAM approach for multi-robot formulation. For a cooperative map reconstruction, the robots have to know each other's relative poses, but estimating these at the start of operation puts a limit on real applications. In our study, the robots start the single SLAM with their own global coordinate, and merge their(More)
BACKGROUND The impact of procedure sequence and primary procedure has not been studied in the combined application of endobronchial ultrasound-guided transbronchial needle aspiration (EBUS-TBNA) and endoscopic ultrasound-guided fine needle aspiration (EUS-FNA) in lung cancer staging. METHODS In a randomised controlled trial, 160 patients with(More)
OBJECTIVE We performed this study to evaluate the role of transesophageal endoscopic ultrasound with bronchoscope-guided fine-needle aspiration (EUS-B-FNA) following endobronchial ultrasound-guided transbronchial needle aspiration (EBUS-TBNA) in the mediastinal staging of lung cancer. METHODS In this prospective study, we applied transbronchial and(More)
OBJECTIVE The goal of this study was to determine the optimal number of aspirations per lymph node (LN) station during endobronchial ultrasound (EBUS)-guided transbronchial needle aspiration (TBNA) for maximum diagnostic yield in mediastinal staging of non-small cell lung cancer (NSCLC) in the absence of rapid on-site cytopathologic examination. METHODS(More)
We investigated whether direct tissue matrix-assisted laser desorption/ionization (MALDI) mass spectrometry (MS) analysis on lipid may assist with the histopathologic diagnosis of non-small cell lung cancers (NSCLCs). Twenty-one pairs of frozen, resected NSCLCs and adjacent normal tissue samples were initially analyzed using histology-directed, MALDI MS.(More)
Particle Filters have been widely used as a powerful optimization tool for nonlinear, non-Gaussian dynamic models such as Simultaneous Localization and Mapping (SLAM) and visual tracking. Particle filters, however, often suffer from particle impoverishment, which is caused by a mismatch between proposal distribution and target distribution. To solve this(More)
A venous thromboembolism (VTE) is prevalent in patients with ovarian clear cell carcinoma (OCCC). Tumor burden and extensive cytoreductive surgery are well-known risk factor for a VTE. The purpose of this study was to define the incidence of VTE after extensive cytoreductive surgery and to clarify the relationship between VTE and extensive cytoreductive(More)
PURPOSE We performed this study to evaluate the role of endobronchial ultrasound-guided transbronchial needle aspiration (EBUS-TBNA) in the pathologic diagnosis of lung cancer including lung masses as well as lymph nodes as targets. METHODS We retrospectively reviewed 126 patients who underwent EBUS-TBNA to diagnose radiologically suspected lung cancer.(More)
BACKGROUND The fact that only 10% of people infected with Mycobacterium tuberculosis develop clinical tuberculosis (TB) suggests the presence of genetic factors in the pathogenesis of TB. To date, a number of single nucleotide polymorphisms (SNPs) in several candidate genes have been proposed as genetic risk factors of TB; however, reports are conflicting.(More)