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1st International conference on computer vision, Virtual Reality and robotics in Medicine, CVRMed 1995

1st International Conference on Computer Vision, Virtual Rea...

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1st International conference on computer vision, Virtual Reality, and robotics in Medicine, CVRMed 1995

ISBN: (纸本)9783540591207

The proceedings contain 73 papers. The special focus in this conference is on Augmented Reality and Simulation. The topics include: Evaluating and validating an automated registration system for enhanced reality visualization in surgery;vision-based object registration for real-time image overlay;using a 3D position sensor for registration of spect and us images of the kidney;a new framework for fusing stereo images with volumetric medical images;visualisation of multimodal images for neurosurgical planning and guidance;registration of 3D surface data for intra-operative guidance and visualization in frameless stereotactic neurosurgery;adaptive segmentation of MRI data;virtual space editing of tagged MRI heart data;computer-aided interactive object delineation using an intelligent paintbrush technique;biomedical data exploration meets telecollaboration;medical image segmentation using topologically adaptable snakes;a retinal laser photocoagulation simulator;a new robot for high dexterity microsurgery;towards more capable and less invasive robotic surgery in orthopaedics;treatment planning for image-guided robotic radiosurgery;a supporting system for getting tomograms and screening with a;computerized 3D brain atlas and a knowledge database;a MRF based random graph modelling the human cortical topography;3D multi-modality medical image registration using feature space clustering;registration of non-segmented images using a genetic algorithm;anatomy-based registration for computer-integrated surgery;comparison of feature-based matching of CT and MR brain images;automatical adaption of anatomical masks to the neocortex;fast segmentation of brain magnetic resonance tomograms.

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A new robot for high dexterity microsurgery 1st

A new robot for high dexterity microsurgery

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1st International conference on computer vision, Virtual Reality, and robotics in Medicine, CVRMed 1995

作者： Schenker, Paul S. Das, Hari Ohm, Timothy R. Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive I MS 198-219 PasadenaCA91109 United States

ISBN: (纸本)9783540591207

We report the development of a new six degree-of-freedom (d.o.f.) manipulator. This robot and its task-space controls enable relative tip positioning to better than 25 microns over a singularity-free work volume exceeding 20 cubic centimeters. By virtue of an innovative cable drive design, the robot has zero backlash in five joints and can sustain full extent loads of over three pounds. The robot is applicable to both fine motion manipulation of microsurgical tools and also dexterous handling of larger powered devices for minimally invasive surgery. Our current development emphasis is a teleoperated system for dexterity enhanced microsurgeries;we believe the new robot will also have useful applications in computer assisted surgeries, e.g. image-guided therapies. In this brief paper, we outline the robot mechanical design, controls implementation, and preliminary evaluations. Our accompanying oral presentation includes a five minute videotape that illustrates engineering laboratory results achieved to date. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Laboratories

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Fuzzy evolutionary algorithms and automatic robot trajectory generation

Fuzzy evolutionary algorithms and automatic robot trajectory...

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Proceedings of the 1st IEEE conference on Evolutionary Computation. Part 1 (of 2)

作者： Xu, H.Y. Vukovich, G. Canadian Space Agency St-Hubert Canada

A fuzzy evolutionary algorithm (FEA) is presented by systematically integrating fuzzy expert systems with evolutionary algorithms in this paper. Both computer experiments and applications demonstrate that fuzzy evolutionary algorithms can generally search for optimal solutions faster and more effectively than standard genetic algorithms. As a specific application, a FEA is applied to automatic robot trajectory generation without using inverse kinematics. An example is given to show that a trajectory of a 7 degree of freedom robot can be automatically generated using the proposed FEA.

关键词： Fuzzy sets

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Detecting unexpected moving obstacles that appear in the path of a navigating robot

Detecting unexpected moving obstacles that appear in the pat...

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IEEE International conference on Image Processing

作者： D. Nair J.K. Aggarwal Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

Presents a system that detects unexpected moving obstacles that appear in the path of a navigating robot, and that estimates the relative motion of the object with respect to the robot. The system is designed for a robot navigating in a structured environment with a single wide-angle camera. The system uses polar mapping to simplify the segmentation of the moving object from the background. The polar mapping is performed with the focus of expansion (FOE) as the center, obtained from the vanishing point of the significant lines in the environment. A method for determining a qualitative estimate of the motion of the object, coupled with an efficient clustering algorithm, is used to segment the moving obstacle from the background. The system uses an area based feature matching method to compute the optical flow in the segmented regions of the image sequence, and time-to-impact is computed from the radial component of the optical flow in the image plane. A framework for a real time implementation of this system on a robot is also presented.< >

关键词： Optical computing Navigation Motion estimation Image segmentation Optical devices Image motion analysis Object detection Motion detection robot vision systems Cameras

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Hand-eye coordination of a robot manipulator based on fuzzy logic

Hand-eye coordination of a robot manipulator based on fuzzy ...

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IEEE International conference on Image Processing

作者： S.S. Kumaresan H.H. Li Department of Computer Science College of Engineering Texas Tech University Lubbock TX USA

Hand-eye coordination of a robot system is a classical problem which mathematically can be described as an ill-posed inverse mapping problem. Different techniques have been developed to solve this inverse mapping problem. But most of the reported work has a common limitation that is the relative position between the camera and the robot must be fixed once the calibration is done. However, very often in real-world applications this may not be realistic either due to the random disturbances to the system or due to the need of repositioning the camera or moving the robot base to perform different task. In this case, usually a lengthy re-calibration process has to be carried out. In this paper, we briefly describe our technique which eliminates the need of re-calibration for the vertical position change of the camera. Our technique is based on the integration of the utilization of a close form mathematical formulation and fuzzy logic. An algorithm has been developed, an experiment has been performed on a 6-degree-of-freedom robot, and testing data has confirmed our design.< >

关键词： robot kinematics Manipulators Fuzzy logic robot vision systems Cameras Orbital robotics Service robots Calibration Fuzzy systems computer science

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Depth estimation using stereo fish-eye lenses

Depth estimation using stereo fish-eye lenses

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IEEE International conference on Image Processing

作者： S. Shah J.K. Aggarwal Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

This paper presents the estimation of depth in an indoor, structured environment based on a stereo setup consisting of two fish-eye lenses, with parallel optical axes, mounted on a robot platform. The use of fish-eye lenses provides for a large field of view to estimate better the depth of features very close to the lens. To extract significant information from the fish-eye lens images, we first correct for the distortion before using a special line detector, based on vanishing points, to extract significant features. We use a relaxation procedure to achieve correspondence between features in the left and right images. The process of prediction and recursive verification of the hypotheses is utilized to find a one-to-one correspondence. Experimental results obtained on several stereo images are presented, and an accuracy analysis is performed. Further, the algorithm is tested using a pair of wide-angle lenses, and the accuracy and difference in the spatial information obtained are compared.< >

关键词： Lenses Layout computer vision Parallel robots Data mining Image analysis Cameras Contracts Computational geometry Image edge detection

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3D-vision-based robot navigation: First steps 1st

3D-vision-based robot navigation: First steps

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1st European conference on computer vision, ECCV 1990

作者： Robert, Luc Vaillant, Régis Schmitt, Michel INRIA Sophia-Antipolis 2004 Route des Lucioles Valbonne Cedex06565 France

ISBN: (纸本)9783540525226

This article shows a way of using a stereo vision system as a logical sensor to perform mobile robot navigation tasks such as obstacle avoidance. We describe our system, from which the implementation of a task described by an automaton can be done very easily. Then we show an example of a navigation task. © Springer-Verlag Berlin Heidelberg 1990.

关键词： stereo image processing

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stabilized solution for 3-D model parameters

Stabilized solution for 3-D model parameters

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1st European conference on computer vision, ECCV 1990

作者： Lowe, David G. Computer Science Dept. Univ. of British Columbia VancouverBCV6T 1W5 Canada

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1st European conference on computer vision, ECCV 1990

1st European Conference on Computer Vision, ECCV 1990

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1st European conference on computer vision, ECCV 1990

ISBN: (纸本)9783540525226

The proceedings contain 81 papers. The special focus in this conference is on computer vision. The topics include: Foreword;on scale and resolution in the analysis of local image structure;a pyramidal stereovision algorithm based on contour chain points;parallel and deterministic algorithms from MRFs: Surface reconstruction and integration;parallel multiscale stereo matching using adaptive smoothing;on the motion of 3D curves and its relationship to optical flow;structure-from-motion under orthographic projection;parallel computation of optic flow;obstacle detection by evaluation of optical flow fields from image sequences;extending the 'oriented smoothness constraint' into the temporal domain and the estimation of derivatives of optical flow;a comparison of stochastic and deterministic solution methods in Bayesian estimation of 2-D motion;motion determination in space-time images;optimal filter for edge detection methods and results;ambiguity in reconstruction from image correspondences;an optimal solution for mobile camera calibration;analytical results on error sensitivity of motion estimation from two views;on the estimation of depth from motion using an anthropomrphic visual sensor;the derivation of qualitative information in motion analysis;road following algorithm using a panned plan-view transformation;3D-vision-based robot navigation: First steps;dynamic world modeling using vertical line stereo;tracking in a complex visual environment;tracking line segments;biased anisotropic diffusion-a unified regularization and diffusion approach to edge detection;measurement and integration of 3-D structures by tracking edge lines;estimation of 3D-motion and structure from tracking 2D-lines in a sequence of images;the incremental rigidity scheme for structure from motion: The line-based formulation.

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Charting surface structure 1st

Charting surface structure

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1st European conference on computer vision, ECCV 1990

作者： Sander, Peter T. Zucker, steven W. INRIA — Rocquencourt Le Chesnay Cedex78153 France INRIA — Sophia-Antipolis Valbonne Cedex06565 France McRCIM McGill University 3480 University St. MontréalQCH3A 2A7 Canada Canadian Institute for Advanced Research Canada

ISBN: (纸本)9783540525226

Computing surface curvature would seem to be a simple application of differential geometry, but problems arise due to noise and the quantized nature of digital images. We present a method for determining principal curvatures and directions of surfaces estimated from three-dimensional images. We use smoothness constraints to connect different surface points and by then comparing information over local neighbourhoods we iteratively update the information at each point to ensure that this information is consistent over the estimated surface. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Geometry

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