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Automatic Evaluation of Landmarks for Image-Based Navigation Update

Stefan Lang, Michael Kirchhof
2009 EURASIP Journal on Advances in Signal Processing  
For the actual navigation update a landmark-based approach is used. It is essential that the used landmarks are well chosen.  ...  Therefore we introduce an approach for evaluating landmarks in terms of the matching distance, which is the maximum misplacement in the position of the landmark that can be corrected.  ...  Karl Lütjen, and Klaus Jäger for the support and creating a good environment for our research. For the many discussions and remarks the authors thank Dr. Michael Arens and Dr. Rolf Schäfer.  ... 
doi:10.1155/2009/467549 fatcat:dculeju7rfaslkfh4cbtjdt4de

Navigating Indoors Using Decision Points [chapter]

Andreas Möller, Stefan Diewald, Luis Roalter, Tobias Stockinger, Robert Huitl, Sebastian Hilsenbeck, Matthias Kranz
2013 Lecture Notes in Computer Science  
We evaluated the system in a real-world user study where decision points proved to be as efficient for navigation as continuous route instructions and panorama updates.  ...  The interface supports the mental model of landmark-based navigation, can be used on-and offline, and is highly tolerant to localization inaccuracy.  ...  Acknowledgments This research project has been supported by the space agency of the German Aerospace Center with funds from the Federal Ministry of Economics and Technology on the basis of a resolution  ... 
doi:10.1007/978-3-642-53862-9_57 fatcat:s7ag7a4hjfhgxjr22tjbr6lgyu

Humanoid robot indoor navigation based on 2D bar codes: application to the NAO robot

Laurent George, Alexandre Mazel
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
Our approach is based on camera image processing and the detection of 2D bar codes stuck to the walls.  ...  The NAO robots are able to navigate through a corridor of 5m in under 86s on average.  ...  The authors would also like to thank Rodolphe Gelin for his constant support, helpful remarks and his kindness.  ... 
doi:10.1109/humanoids.2013.7029995 fatcat:tkwpw73i7jenlesgtrhytllgu4

Signal Processing Advances in Robots and Autonomy

Frank Ehlers, Fredrik Gustafsson, Matthijs Spaan
2009 EURASIP Journal on Advances in Signal Processing  
Acknowledgment The guest editors of this special issue are much indebted to their authors and reviewers, who put a tremendous amount of effort and dedication to make this issue a reality.  ...  Lang et al. address the automatic evaluation of landmarks for image-based navigation updates.  ...  Information," "Automatic evaluation of landmarks for image based navigation update," and "Pure-Pursuit Reactive Path Tracking for Non-Holonomic Mobile Robots with a 2D Laser-Scanner."  ... 
doi:10.1155/2009/948716 fatcat:kwwtttqrhvdgfo5lmgvptw4kne

Brain Shift in Neuronavigation of Brain Tumors: An Updated Review of Intra-Operative Ultrasound Applications

Ian J. Gerard, Marta Kersten-Oertel, Jeffery A. Hall, Denis Sirhan, D. Louis Collins
2021 Frontiers in Oncology  
Neuronavigation using pre-operative imaging data for neurosurgical guidance is a ubiquitous tool for the planning and resection of oncologic brain disease.  ...  Here we present an updated review using the same taxonomy and framework, focused on the developments of intra-operative ultrasound-based brain shift research from 2015 to the present (2020).  ...  (26, 27) . evaluated the improvement of EOR with frequently updated navigation images for resections; however, very few studies report on these types of clinical outcomes, and there currently does not  ... 
doi:10.3389/fonc.2020.618837 pmid:33628733 pmcid:PMC7897668 fatcat:mvk6k2xfbrbztiwbyegxeh6faa

Algorithmic solution and simulation results for vision-based autonomous mode of a planetary rover [chapter]

Marina Kolesnik, Gerhard Paar
1997 Lecture Notes in Computer Science  
It is shown that standalone tracking using automatically identified landmarks is robust enough to give navigation data for further stereoscopic reconstruction of the surrounding terrain.  ...  A vision based navigation (VBN) system is chosen as a basic tool to provide autonomous operations of a planetary rover during space missions.  ...  autonomous piloting and ground based navigation; 3. full autonomy mode or autonomous navigation; This paper outlines the concept of fully autonomous mode for the rover equipped by an active / passive  ... 
doi:10.1007/3-540-63460-6_178 fatcat:kigkqdta3nczrgn3evcqrqgfgy

Acquiring Observation Models Through Reverse Plan Monitoring [chapter]

Sonia Chernova, Elisabeth Crawford, Manuela Veloso
2005 Lecture Notes in Computer Science  
We present a general-purpose framework for updating a robot's observation model within the context of planning and execution.  ...  The automatically acquired observation models allow the robot to adapt to changes in the environment and robustly execute arbitrary plans.  ...  (b) At point P i , collect image data for landmark L i The robot automatically perturbs its position and angle to get images from several vantage points.  ... 
doi:10.1007/11595014_41 fatcat:slee45ekxbd73ikp4md27zbguu

Visual Landmark-Based Localization for MAVs Using Incremental Feature Updates

Andreas Wendel, Michael Maurer, Horst Bischof
2012 2012 Second International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission  
We present a framework based on metric, geo-referenced visual landmarks, which can be obtained by taking images with a consumer camera at ground level.  ...  Micro aerial vehicles (MAVs) are gaining importance as image acquisition tools in urban environments, where areas of interest are often close to buildings and to the ground.  ...  EXPERIMENTS We selected a challenging outdoor environment for evaluating our adaptive image-based localization approach.  ... 
doi:10.1109/3dimpvt.2012.64 dblp:conf/3dim/WendelMB12 fatcat:ruvinl2nx5e7vknwahv3xpd764

Fusing Low-Cost Image and Inertial Sensors for Passive Navigation

MAJOR M. VETH, J. RAQUET
2007 Navigation  
In contrast to previous research, the algorithms are specifically evaluated for operation using lowcost, CMOS imagers and MEMS inertial sensors.  ...  The performance of the resulting image-aided inertial navigation system is evaluated using Monte Carlo simulation and ex-perimental data and compared to the performance using more expensive inertial sensors  ...  DISCLAIMER The views expressed in this article are those of the author and do not reflect the official policy or position of the United States Air Force, Department of Defense, or the U.S Government.  ... 
doi:10.1002/j.2161-4296.2007.tb00391.x fatcat:5qcvskm5nzevfj6jk5zb4fdwgq

Reliable navigation registration in cranial and spine surgery based on intraoperative computed tomography

Barbara Carl, Miriam Bopp, Benjamin Saß, Mirza Pojskic, Marko Gjorgjevski, Benjamin Voellger, Christopher Nimsky
2019 Neurosurgical Focus  
In contrast to fiducial, landmark, or surface matching–based registration, the application of intraoperative imaging allows user-independent automatic patient registration, which is less error prone.  ...  Regardless of whether navigation is used for trajectory alignment in biopsy or implant procedures, or for sophisticated augmented reality applications, all depend on a correct registration of patient space  ...  Navigation Setting After completion of the initial iCT scanning, the image data were automatically pushed to the navigation system and automatic patient registration was performed, after which pointer-based  ... 
doi:10.3171/2019.8.focus19621 pmid:31786552 fatcat:tnr3j5sctrbldno2r55dshqyte

Ten-fold Improvement in Visual Odometry Using Landmark Matching

Zhiwei Zhu, Taragay Oskiper, Supun Samarasekera, Rakesh Kumar, Harpreet S. Sawhney
2007 2007 IEEE 11th International Conference on Computer Vision  
First, a dynamic local landmark tracking technique is proposed to track a set of local landmarks across image frames and select an optimal set of tracked local landmarks for pose computation.  ...  We integrate the landmark based approach into a navigation system with 2 stereo pairs and a low-cost Inertial Measurement Unit (IMU) for increased robustness.  ...  Second, for each landmark descriptor in the new image, the inverted file of each node that it visited at each level will be updated by inserting the new database image ID, updating the term frequency n  ... 
doi:10.1109/iccv.2007.4409062 dblp:conf/iccv/ZhuOSKS07 fatcat:dkgsv5dstzawdnuob6fuybizjy

Intraoperative modification of resection plans for liver surgery

Christian Hansen, Alexander Köhn, Stefan Schlichting, Florian Weiler, Stephan Zidowitz, Markus Kleemann, Heinz-Otto Peitgen
2008 International Journal of Computer Assisted Radiology and Surgery  
The probe of an ultrasound-based navigation system and alternatively the pointing device Wiimote are proposed as intraoperative interaction devices.  ...  Due to such findings, the resection strategy must be updated or completely revised. Materials and methods Therefore, we have developed methods for the intraoperative modification of resection plans.  ...  Fig. 2 2 Exchange Fig. 5 5 Preliminary evaluations in the OR using the IPA a and the ultrasound-based navigation system b for laparoscopic liver surgery on pigs.  ... 
doi:10.1007/s11548-008-0161-5 fatcat:axrcbnf4x5b6hjcy6bm36is7si

Object-oriented landmark recognition for UAV-navigation

E. Michaelsen, K. Jäger, D. Roschkowski, L. Doktorski, M. Arens
2011 Pattern Recognition and Image Analysis  
Computer vision is an ever more important means for the navigation of UAVs. Here we propose a landmark recognition system looking for salient man-made infrastructure.  ...  The structure, available for use as landmark, will vary strongly with the region the UAV is supposed to navigate in.  ...  A recent renewal of this work assesses the structural approach for landmark-based UAV navigation, by closing a simulated control loop using Google-Earth as camera simulator and image source [10] .  ... 
doi:10.1134/s1054661811020763 fatcat:gdkp66qylrhstaa24lqbphfexa

Automatic View Planning with Multi-scale Deep Reinforcement Learning Agents [chapter]

Amir Alansary, Loic Le Folgoc, Ghislain Vaillant, Ozan Oktay, Yuanwei Li, Wenjia Bai, Jonathan Passerat-Palmbach, Ricardo Guerrero, Konstantinos Kamnitsas, Benjamin Hou, Steven McDonagh, Ben Glocker (+2 others)
2018 Lecture Notes in Computer Science  
For this task, we employ a multi-scale reinforcement learning (RL) agent framework and extensively evaluate several Deep Q-Network (DQN) based strategies.  ...  We propose a fully automatic method to find standardized view planes in 3D image acquisitions.  ...  [3] introduced an automatic landmark detection approach using a DQN-agent to navigate in 3D images with fixed step actions. Maicas et al.  ... 
doi:10.1007/978-3-030-00928-1_32 fatcat:2c4h3rfqzfd65haofyxmuk4jdu

Pharos

Nina Wenig, Dirk Wenig, Steffen Ernst, Rainer Malaka, Brent Hecht, Johannes Schöning
2017 Proceedings of the 19th International Conference on Human-Computer Interaction with Mobile Devices and Services - MobileHCI '17  
However, one obstacle to the implementation of landmark-based navigation systems is the complex challenge of selecting salient local landmarks at each decision point for each user.  ...  Landmark-based navigation systems have proven benefits relative to traditional turn-by-turn systems that use street names and distances.  ...  [52] to find the landmarks in sub-images. Classifier Evaluation We used a separate data set with 100 manually collected GSV images for each landmark to evaluate the classifiers.  ... 
doi:10.1145/3098279.3098529 dblp:conf/mhci/WenigWEMHS17 fatcat:qktlecuduzcdlksdjjywnm6h5a
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