Abstract: An apparatus and method for producing a map based on a hierarchical structure to produce a 3D high-precision map based on the hierarchical structure using a low-priced 2D laser scanner is provided. The apparatus and method produces the 3D high-precision map based on the hierarchical structure using the low-priced 2D laser scanner.

Abstract: The embodiments relate to a polythiol composition for a plastic optical lens and a polythiourethane-based plastic optical lens prepared therefrom. In the embodiments, a first polythiol compound having an ester group and a mercapto group only as a hydrogen-bondable functional group and a second polythiol compound having an ester group and a hydrogen-bondable functional group other than a mercapto group are used in an appropriate amount. Thus, it is possible to control the viscosity of a polymerizable composition at the initial stage of polymerization at a low temperature of 5 to 15° C. and to stabilize the rate of increase in the viscosity of the composition and the reaction rate thereof, thereby preventing the generation of striae, bubbles, and the like. Further, various plastic lenses such as eyeglass lenses, camera lenses, and the like having excellent appearance characteristics (without striae and bubbles) and excellent optical characteristics can be obtained from the composition.

Abstract: An embodiment relates to a polymeric composition for a polythiourethane-based optical material, wherein the polymeric composition, comprising a particular additive, may appropriately adjust the reactivity of an isocyanate such that viscosity is maintained low for a predetermined period of time, and thus is capable of preparing a high-quality polythiourethane-based optical material, without a complicated purification process. Moreover, a polythiourethane-based optical material according to an embodiment has not only a uniform refractive index, but also a low yellow index, and thus may be used as a variety of plastic optical lenses, such as an eyeglass lens or a camera lens and the like.

Abstract: Provided is a preparation of a thioether-based polythiol in a high purity using a metal monosulfide for the incorporation of a thioether group, wherein the content of such components as a metal polysulfide present in the metal monosulfide is controlled to a predetermined level or lower. As a result, an optical lens of high quality with a high refractive index can be produced using the polythiol.

Abstract: A method for estimating 6-DOF relative displacement using vision-based localization and apparatus therefor are disclosed. A method for estimating 6-DOF relative displacement may include acquiring images of a first marker attached to a fixing member and a second marker attached to a dynamic member for assembling to the fixing member by using a camera, extracting a feature point of the first marker and a feature point of the second marker through image processing for the acquired images, and estimating 6-DOF relative displacement of the dynamic member for the fixing member based on the extracted feature point of the first marker and feature point of the second marker.

Abstract: The present disclosure relates to a medium composition for enhancing proliferation of stem cells, comprising ethionamide, and a use thereof. It is possible, according to the present disclosure, to mass-produce highly-efficient next-generation stem cells through a simple and safe method of controlling a culturing environment, without using genetic modification or viral vectors, etc.

Abstract: Embodiments relate to a polythiol composition for a plastic optical lens and a polythiourethane-based plastic optical lens prepared therefrom. In the embodiments, a first polythiol compound having mercapto groups only as a hydrogen-bondable functional group and a second polythiol compound having mercapto groups as a hydrogen-bondable functional group and a hydrogen-bondable functional group other than a mercapto group are used in an appropriate amount. Thus, not only is it possible to control the viscosity of a polymerizable composition at the initial stage of polymerization at a low temperature of 5 to 15° C. and to stabilize the rate of increase in the viscosity of the composition and the reaction rate thereof, but also the change in the viscosity at a low temperature is low, thereby preventing the generation of striae, bubbles, and the like.

Abstract: The present invention relates to localization method and system for providing augmented reality in mobile devices and includes sub-sampling image data acquired from a camera in the mobile devices, and extracting image patch including line and point in low-resolution image data, matching feature pairs of point features between the image patch and previous image patch according to movement of the camera, and producing line of subpixel for the image patch, and estimating a location of the camera in the mobile devices based on difference between the produced line and estimated line by inertia.

Abstract: An embodiment relates to an aromatic polythiol compound for optical materials, and the aromatic polythiol compound according to the embodiment contains a phenyl group and a large number of sulfur atoms in its polythiol structure so that a polymerizable composition and an optical material obtained therefrom have excellent optical properties such as high refractive index and low specific gravity, as well as excellent mechanical properties such as low cure shrinkage; thus, they can be advantageously used for producing various plastic optical lenses such as eyeglass lenses and camera lenses.

Abstract: Embodiments relate to a polythiol composition for a plastic optical lens and a polythiourethane-based plastic optical lens prepared therefrom. In the embodiments, a first polythiol compound having mercapto groups only as a hydrogen-bondable functional group and a second polythiol compound having mercapto groups as a hydrogen-bondable functional group and a hydrogen-bondable functional group other than a mercapto group are used in an appropriate amount. Thus, not only is it possible to control the viscosity of a polymerizable composition at the initial stage of polymerization at a low temperature of 5 to 15° C. and to stabilize the rate of increase in the viscosity of the composition and the reaction rate thereof, but also the change in the viscosity at a low temperature is low, thereby preventing the generation of striae, bubbles, and the like.

Abstract: The embodiments relate to a polythiol composition for a plastic optical lens and a polythiourethane-based plastic optical lens prepared therefrom. In the embodiments, a first polythiol compound having an ester group and a mercapto group only as a hydrogen-bondable functional group and a second polythiol compound having an ester group and a hydrogen-bondable functional group other than a mercapto group are used in an appropriate amount. Thus, it is possible to control the viscosity of a polymerizable composition at the initial stage of polymerization at a low temperature of 5 to 15° C. and to stabilize the rate of increase in the viscosity of the composition and the reaction rate thereof, thereby preventing the generation of striae, bubbles, and the like. Further, various plastic lenses such as eyeglass lenses, camera lenses, and the like having excellent appearance characteristics (without striae and bubbles) and excellent optical characteristics can be obtained from the composition.

Abstract: A method for estimating 6-DOF relative displacement using vision-based localization and apparatus therefor are disclosed. A method for estimating 6-DOF relative displacement may include acquiring images of a first marker attached to a fixing member and a second marker attached to a dynamic member for assembling to the fixing member by using a camera, extracting a feature point of the first marker and a feature point of the second marker through image processing for the acquired images, and estimating 6-DOF relative displacement of the dynamic member for the fixing member based on the extracted feature point of the first marker and feature point of the second marker.

Abstract: Disclosed are a wall-climbing aerial robot mechanism and a method of controlling the same. The method of controlling a wall-climbing aerial robot includes allowing the aerial robot to fly towards a structure, allowing the aerial robot to approach the structure and recognize a wall of the structure, allowing the aerial robot to calculate a trajectory for landing on the wall of the structure, approach the wall of the structure after taking an orientation, and be attached on the wall of the structure, and allowing the aerial robot to move along the wall of the structure to perform a task.

Abstract: An apparatus and method for producing a map based on a hierarchical structure to produce a 3D high-precision map based on the hierarchical structure using a low-priced 2D laser scanner is provided. The apparatus and method produces the 3D high-precision map based on the hierarchical structure using the low-priced 2D laser scanner.

Abstract: Provided is a preparation of a thioether-based polythiol in a high purity using a metal monosulfide for the incorporation of a thioether group, wherein the content of such components as a metal polysulfide present in the metal monosulfide is controlled to a predetermined level or lower. As a result, an optical lens of high quality with a high refractive index can be produced using the polythiol.

Abstract: Disclosed is to prevent generation of byproducts or a deterioration in the physical properties of a polythiol composition that may be caused by active oxygen during storage thereof by way of controlling the content of active oxygen in the polythiol composition after the synthesis of the polythiol. As a result, it is possible to enhance the long-term storage stability of a polythiol composition after it has been synthesized until it is used in the polymerization reaction.

Abstract: A method and apparatus for robust localization in outdoor environments is provided. The localization method includes the steps of receiving scanner data from localization means and receiving angle information of a mobile device from an angle sensor, correcting the scanner data based on the received angle information, performing an Iterative Closest Point (ICP) mechanism for the corrected scanner data and generating a first constraint, and localizing the mobile device based on a graph structure under the first constraint.

Abstract: An underground localization method and a system therefor are provided. The underground localization method includes computing location information of a dead reckoning using a gyro sensor and a distance movement sensor of moving equipment, measuring physical information according to the computed location information of the dead reckoning and searching for the physical information which is determined as being matched with the location information of the dead reckoning, and optimizing a location by reflecting location information of the physical information which is determined as being matched with the location information of the dead reckoning.

Abstract: Disclosed are a wall-climbing aerial robot mechanism and a method of controlling the same. The method of controlling a wall-climbing aerial robot includes allowing the aerial robot to fly towards a structure, allowing the aerial robot to approach the structure and recognize a wall of the structure, allowing the aerial robot to calculate a trajectory for landing on the wall of the structure, approach the wall of the structure after taking an orientation, and be attached on the wall of the structure, and allowing the aerial robot to move along the wall of the structure to perform a task.

Abstract: A method and apparatus for robust localization in outdoor environments is provided. The localization method includes the steps of receiving scanner data from localization means and receiving angle information of a mobile device from an angle sensor, correcting the scanner data based on the received angle information, performing an Iterative Closest Point (ICP) mechanism for the corrected scanner data and generating a first constraint, and localizing the mobile device based on a graph structure under the first constraint.