70 research outputs found

    Camera localization using trajectories and maps

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    We propose a new Bayesian framework for automatically determining the position (location and orientation) of an uncalibrated camera using the observations of moving objects and a schematic map of the passable areas of the environment. Our approach takes advantage of static and dynamic information on the scene structures through prior probability distributions for object dynamics. The proposed approach restricts plausible positions where the sensor can be located while taking into account the inherent ambiguity of the given setting. The proposed framework samples from the posterior probability distribution for the camera position via data driven MCMC, guided by an initial geometric analysis that restricts the search space. A Kullback-Leibler divergence analysis is then used that yields the final camera position estimate, while explicitly isolating ambiguous settings. The proposed approach is evaluated in synthetic and real environments, showing its satisfactory performance in both ambiguous and unambiguous settings

    Estimating Gear Teeth Stiffness

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    Recent Advances in Industrial and Applied Mathematics

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    This open access book contains review papers authored by thirteen plenary invited speakers to the 9th International Congress on Industrial and Applied Mathematics (Valencia, July 15-19, 2019). Written by top-level scientists recognized worldwide, the scientific contributions cover a wide range of cutting-edge topics of industrial and applied mathematics: mathematical modeling, industrial and environmental mathematics, mathematical biology and medicine, reduced-order modeling and cryptography. The book also includes an introductory chapter summarizing the main features of the congress. This is the first volume of a thematic series dedicated to research results presented at ICIAM 2019-Valencia Congress

    Real-time Biomechanical Modeling for Intraoperative Soft Tissue Registration

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    Computer assisted surgery systems intraoperatively support the surgeon by providing information on the location of hidden risk and target structures during surgery. However, soft tissue deformations make intraoperative registration (and thus intraoperative navigation) difficult. In this work, a novel, biomechanics based approach for real-time soft tissue registration from sparse intraoperative sensor data such as stereo endoscopic images is presented to overcome this problem

    Accurate 3D-reconstruction and -navigation for high-precision minimal-invasive interventions

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    The current lateral skull base surgery is largely invasive since it requires wide exposure and direct visualization of anatomical landmarks to avoid damaging critical structures. A multi-port approach aiming to reduce such invasiveness has been recently investigated. Thereby three canals are drilled from the skull surface to the surgical region of interest: the first canal for the instrument, the second for the endoscope, and the third for material removal or an additional instrument. The transition to minimal invasive approaches in the lateral skull base surgery requires sub-millimeter accuracy and high outcome predictability, which results in high requirements for the image acquisition as well as for the navigation. Computed tomography (CT) is a non-invasive imaging technique allowing the visualization of the internal patient organs. Planning optimal drill channels based on patient-specific models requires high-accurate three-dimensional (3D) CT images. This thesis focuses on the reconstruction of high quality CT volumes. Therefore, two conventional imaging systems are investigated: spiral CT scanners and C-arm cone-beam CT (CBCT) systems. Spiral CT scanners acquire volumes with typically anisotropic resolution, i.e. the voxel spacing in the slice-selection-direction is larger than the in-the-plane spacing. A new super-resolution reconstruction approach is proposed to recover images with high isotropic resolution from two orthogonal low-resolution CT volumes. C-arm CBCT systems offers CT-like 3D imaging capabilities while being appropriate for interventional suites. A main drawback of these systems is the commonly encountered CT artifacts due to several limitations in the imaging system, such as the mechanical inaccuracies. This thesis contributes new methods to enhance the CBCT reconstruction quality by addressing two main reconstruction artifacts: the misalignment artifacts caused by mechanical inaccuracies, and the metal-artifacts caused by the presence of metal objects in the scanned region. CBCT scanners are appropriate for intra-operative image-guided navigation. For instance, they can be used to control the drill process based on intra-operatively acquired 2D fluoroscopic images. For a successful navigation, accurate estimate of C-arm pose relative to the patient anatomy and the associated surgical plan is required. A new algorithm has been developed to fulfill this task with high-precision. The performance of the introduced methods is demonstrated on simulated and real data

    Recent Advances in Industrial and Applied Mathematics

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    This open access book contains review papers authored by thirteen plenary invited speakers to the 9th International Congress on Industrial and Applied Mathematics (Valencia, July 15-19, 2019). Written by top-level scientists recognized worldwide, the scientific contributions cover a wide range of cutting-edge topics of industrial and applied mathematics: mathematical modeling, industrial and environmental mathematics, mathematical biology and medicine, reduced-order modeling and cryptography. The book also includes an introductory chapter summarizing the main features of the congress. This is the first volume of a thematic series dedicated to research results presented at ICIAM 2019-Valencia Congress

    Optimal control and approximations

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    Optimal control and approximations

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