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Robotic beating heart surgery requires accurate information about the current state of the heart. For this purpose, it is of great importance to have a good estimate of the heart's current phase, which in essence corresponds to the percentage of the current heart cycle that has already passed. Estimation of the heart phase is a highly nontrivial problem as the heart motion is not exactly periodic...
When tracking an extended object, traditional approaches exploit information only from measurements that are assumed to stem from the target, and discard observations assumed to have been generated elsewhere. However, the fact that these observations were received contains valuable information about where the target is not. This information, which is usually treated as clutter with little value, can...
We consider closed-loop feedback (CLF) stochastic model predictive control of nonlinear time-invariant systems with imperfect state information. In this class of control problems, future information feedback is considered in the decision making process, and thus, the effect of the control influencing the state uncertainty is taken into account. The main challenge in the solution is to find a good...
In this paper, we present a recursive Bayesian method to calibrate rigidly linked depth sensors with non-overlapping fields of view. The extrinsic parameters of this setup are obtained by rotating and translating both cameras, estimating the local transformations using point feature correspondences, and finally using these values to recursively find a solution to the matrix equation AkX = XBk. The...
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