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Monocular feature-based periodic motion estimation for surgical guidance
2013
2013 IEEE International Conference on Robotics and Automation
In this paper, we present a novel approach for mapping periodically moving visual features with a monocular camera. Our target application is the estimation of moving surfaces during minimally invasive surgery for the purpose of aiding in the guidance of surgical tools. Our approach uses a bank of Kalman filters to estimate FFT parameters that encode the periodic motion of visually detected features. To ensure convergent estimation for this highly nonlinear problem, we have developed an
doi:10.1109/icra.2013.6631201
dblp:conf/icra/TullyKC13
fatcat:uvyzjlf5qzdubcvyporrhvxjfq