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Computer aided surgery (CAS) often involves the use of instrument, implants and other interactive device whose pose is tracked in real time so as to provide navigated positioning of the instrument to guide the surgeon carrying out the operation. The infrared tracking system has been proved to be a valuable alternative to tracking system based on other technologies, such as magnetic, acoustic, gyroscopic...
Determining pose or exterior orientation of a camera is an important step in surface reconstruction and subsequent steps such as perceptual organization and object recognition in photogrammetry or computer vision. Pose refers to position and attitude of a perspective camera at the time of exposure. It is generally determined using a set of points in object space and image space. Using free-form lines...
This paper presents a fault-tolerant method for pose estimation of space objects using 3-D vision data by integration of a Kalman filter (KF) and an Iterative Closest Point (ICP) algorithm in a closed-loop configuration. The initial guess for the internal ICP iteration is provided by state estimate propagation of the Kalman filer. The Kalman filter is capable of not only estimating the target's states,...
This paper presents a new online multi-classifier boosting algorithm for learning object appearance models. In many cases the appearance model is multi-modal, which we capture by training and updating multiple strong classifiers. The proposed algorithm jointly learns the classifiers and a soft partitioning of the input space, defining an area of expertise for each classifier. We show how this formulation...
We address the problem of estimating pose in a static image of a human performing an action that may involve interaction with scene objects. In such scenarios, pose can be estimated more accurately using the knowledge of scene objects. Previous approaches do not make use of such contextual information. We propose Pose Context trees to jointly model human pose and object which allows both accurate...
This paper presents research and development for a hybrid visual servoing control method for a newly developed space robot. The hybrid scheme consists of an eye-in-hand camera and eye-to-hand camera configuration. The first one guarantees good accuracy and the ability to explore the workspace; the second one ensures a panoramic sight of the workspace. The motivation of this paper is to take advantage...
Object recognition techniques are well known in the field of machine vision, and aim at the classification of certain observed rigid objects based on the information acquired by a specific sensor. These techniques can either be performed in the 2D image space by simply applying suitable image processing algorithms, or in the real world 3D space by performing surface reconstruction of the object's...
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