TAILIEUCHUNG - Robot Vision 2011 Part 4

Tham khảo tài liệu 'robot vision 2011 part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 112 Robot Vision compute the robot s spatial localization with respect to the camera coordinate system by imaging a target with known geometry. The desired robot pose is then specified either automatically or manually in the camera coordinate system and the robot is aligned accordingly. Since the internal camera parameters are required for robot pose estimation the c-arm must be calibrated. Closed loop un-calibrated methods guide the robot to the desired pose based solely on the acquired images. The desired target pose is specified either automatically or manually in the image coordinate system. The robot pose is then updated continuously according to the images until the desired pose is attained. We have opted for closed loop guidance due to the reduction in pre-operative imaging that is required. The main difference in requirement between the open and closed loop systems is in the definition of the robot target pose. Closed loop methodologies require the 3D volumetric model to be registered to the intra-operative situation using a 2D-3D registration technique. This defines the robot target pose intra-operatively. The focus of the chapter is placed on new methods and technologies for performing the aforementioned 2D-3D registration. The chapter will discuss the developed algorithms to recognize the object to be manipulated by matching image features to a geometrical model of the object and computing its position and orientation pose relative to the robot coordinate system. This absolute pose and cartesian-space information is used to move the robot to the desired pose. Apart from fracture reduction hip and knee arthroplasties and several spinal procedures are currently seen as potential areas of orthopedics benefited by intra-operative 3D pose estimation through a 2D-3D registration process. Literature work that conduct tracking of fractured bone segments through intra-operative 2D-3D registration can be is seen in Joskowicz L Milgrom C et al. 1998 Westphal R .

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