192 research outputs found
Directional Estimation for Robotic Beating Heart Surgery
In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart
Directional Estimation for Robotic Beating Heart Surgery
In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart
Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution
The wrapped normal distribution arises when a the density of a
one-dimensional normal distribution is wrapped around the circle infinitely
many times. At first look, evaluation of its probability density function
appears tedious as an infinite series is involved. In this paper, we
investigate the evaluation of two truncated series representations. As one
representation performs well for small uncertainties whereas the other performs
well for large uncertainties, we show that in all cases a small number of
summands is sufficient to achieve high accuracy
Measurement of visibility from the pilot's cockpit on different airplane types
A process for the measurement of the visibility of airplanes from the pilot's cockpit is developed. The apparatus necessary for the measurements was suitably constructed and measurements of the fields of vision were made with it. The visibilities of six airplanes of different types of construction and use were measured, as well as the visibility of an automobile for comparison. An attempt was made to establish minimum visibility requirements and to express the excellence of visibility by means of a numerical coefficient
Recursive Estimation of Orientation Based on the Bingham Distribution
Directional estimation is a common problem in many tracking applications.
Traditional filters such as the Kalman filter perform poorly because they fail
to take the periodic nature of the problem into account. We present a recursive
filter for directional data based on the Bingham distribution in two
dimensions. The proposed filter can be applied to circular filtering problems
with 180 degree symmetry, i.e., rotations by 180 degrees cannot be
distinguished. It is easily implemented using standard numerical techniques and
suitable for real-time applications. The presented approach is extensible to
quaternions, which allow tracking arbitrary three-dimensional orientations. We
evaluate our filter in a challenging scenario and compare it to a traditional
Kalman filtering approach
Unscented Orientation Estimation Based on the Bingham Distribution
Orientation estimation for 3D objects is a common problem that is usually
tackled with traditional nonlinear filtering techniques such as the extended
Kalman filter (EKF) or the unscented Kalman filter (UKF). Most of these
techniques assume Gaussian distributions to account for system noise and
uncertain measurements. This distributional assumption does not consider the
periodic nature of pose and orientation uncertainty. We propose a filter that
considers the periodicity of the orientation estimation problem in its
distributional assumption. This is achieved by making use of the Bingham
distribution, which is defined on the hypersphere and thus inherently more
suitable to periodic problems. Furthermore, handling of non-trivial system
functions is done using deterministic sampling in an efficient way. A
deterministic sampling scheme reminiscent of the UKF is proposed for the
nonlinear manifold of orientations. It is the first deterministic sampling
scheme that truly reflects the nonlinear manifold of the orientation
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