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This paper presents a method to estimate contact force for minimally invasive surgery (MIS) using endoscopic imagery. In order to provide surgeons the information of contact force as surgical instruments get contact to human tissue, we developed a method to calculate tissue deformation by reconstructing 3D model using real-time image processing. The force information will be fed back to a haptic device...
In this paper, we propose a CAD-based 6-DOF pose estimation design for random bin-picking of multiple different objects using a Kinect RGB-D sensor. 3D CAD models of objects are constructed via a virtual camera, which generates a point cloud database for object recognition and pose estimation. A voxel grid filter is suggested to reduce the number of 3D point cloud of objects for reducing computing...
In this paper, we investigate the performance of KinectFusion algorithm for 3D reconstruction using a Kinect sensor. A sensor model is applied to generate depth image to evaluate accuracy of the algorithm. To obtain ground truth of depth image as well as camera pose, we generate depth data based on a CAD model in a simulation program. In the error analysis, deferent types of noise, including depth...
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