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ICRA 2009 International Conference on Robotics and Automation

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ICRA
2009
IEEE

414views Robotics» more ICRA 2009»

A Stereoscopic Fibroscope for Camera Motion and 3D Depth Recovery During Minimally Invasive Surgery

14 years 6 months ago

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This paper introduces a stereoscopic fibroscope imaging system for Minimally Invasive Surgery (MIS) and examines the feasibility of utilizing images transmitted from the distal ...

David Noonan, Peter Mountney, Daniel Elson, Ara ...

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Id	Views	Title	Status

1	414	A Stereoscopic Fibroscope for Camera Motion and 3D Depth Recovery During Minimally Invasive Surgery
2	336	Planar Catadioptric Stereo: Single and multi-view geometry for calibration and localization	claim
3	303	Dynamic stability of variable stiffness running	claim
4	275	Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC	claim
5	266	Behavioral control for multi-robot perimeter patrol: A Finite State Automata approach	claim
6	266	CAD-based recognition of 3D objects in monocular images	claim
7	259	Fast Point Feature Histograms (FPFH) for 3D registration	claim
8	259	Constructing action set from basis functions for reinforcement learning of robot control	claim
9	257	The DLR MiroSurge - A robotic system for surgery	claim
10	255	Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows	claim
11	248	Comparison of surface normal estimation methods for range sensing applications	claim
12	248	Moving obstacle detection in highly dynamic scenes	claim
13	241	Robust edge extraction for SwissRanger SR-3000 range images	claim
14	232	Modeling deformable shell-like objects grasped by a robot hand	claim
15	231	Accurate 3D ground plane estimation from a single image	claim
16	227	Adaptive autonomous control using online value iteration with gaussian processes	claim
17	226	3D model selection from an internet database for robotic vision	claim
18	218	Automatically and efficiently inferring the hierarchical structure of visual maps	claim
19	211	Climbing rough vertical surfaces with hierarchical directional adhesion	claim
20	210	An adaptive-scale robust estimator for motion estimation	claim
21	208	Affordance based word-to-meaning association	claim
22	207	Bayesian network-based behavior control for skilligent robots	claim
23	204	A high-speed multi-GPU implementation of bottom-up attention using CUDA	claim
24	197	Synchronous EEG brain-actuated wheelchair with automated navigation	claim
25	196	CHOMP: Gradient optimization techniques for efficient motion planning	claim
26	195	Passive event-based extrapolation for lossy haptic data compression in bilateral presence systems	claim
27	191	Distributed coverage control for mobile sensors with location-dependent sensing models	claim
28	190	Whole body motion primitive segmentation from monocular video	claim
29	190	Object recognition and full pose registration from a single image for robotic manipulation	claim
30	188	Learning sound location from a single microphone	claim
31	188	Potential field guide for humanoid multicontacts acyclic motion planning	claim
32	188	Mining GPS data for extracting significant places	claim
33	188	Onboard contextual classification of 3-D point clouds with learned high-order Markov Random Fields	claim
34	185	Ad-hoc wireless network coverage with networked robots that cannot localize	claim
35	183	Turning dynamics and passive damping in flapping flight	claim
36	182	Manipulation planning on constraint manifolds	claim
37	180	Effects of compliant ankles on bipedal locomotion	claim
38	179	Automatic weight learning for multiple data sources when learning from demonstration	claim
39	178	Camera self-calibration for sequential Bayesian structure from motion	claim
40	178	A riemannian-geometry approach for dynamics and control of object manipulation under constraints	claim
41	176	Path planning in 1000+ dimensions using a task-space Voronoi bias	claim
42	176	Rollin' Justin - Mobile platform with variable base	claim
43	175	Human daily activity recognition in robot-assisted living using multi-sensor fusion	claim
44	175	A combination of particle filtering and deterministic approaches for multiple kernel tracking	claim
45	174	Range-only SLAM with a mobile robot and a Wireless Sensor Networks	claim
46	174	Environment adapted active multi-focal vision system for object detection	claim
47	174	Cardiolock2: Parallel singularities for the design of an active heart stabilizer	claim
48	173	Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments	claim
49	173	Most salient region tracking	claim
50	173	The Autonomous City Explorer project	claim
51	171	Consistent cooperative localization	claim
52	171	Multimodal telepresent control of DLR's Rollin' JUSTIN	claim
53	171	Object classification based on a geometric grammar with a range camera	claim
54	170	Surface model reconstruction of 3D objects from multiple views	claim
55	170	Imitation learning with generalized task descriptions	claim
56	170	Path diversity is only part of the problem	claim
57	170	Characterization of the compact Hokuyo URG-04LX 2D laser range scanner	claim
58	170	Automatic high-precision self-calibration of camera-robot systems	claim
59	170	Mixed reality simulation for mobile robots	claim
60	170	Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering	claim
61	169	Task-level imitation learning using variance-based movement optimization	claim
62	169	Manipulation planning with Workspace Goal Regions	claim
63	169	Entropy-based visual servoing	claim
64	168	CI-Graph: An efficient approach for large scale SLAM	claim
65	167	The curious robot - Structuring interactive robot learning	claim
66	167	Articulated object tracking by rendering consistent appearance parts	claim
67	167	Model and parameter identification of friction during robotic insertion of cochlear-implant electrode arrays	claim
68	166	Anatomically correct testbed hand control: Muscle and joint control strategies	claim
69	166	Navigation through urban environments by visual perception and interaction	claim
70	166	Laser-based geometric modeling using cooperative multiple mobile robots	claim
71	165	A visual odometry framework robust to motion blur	claim
72	165	Collision avoidance in dynamic environments: An ICS-based solution and its comparative evaluation	claim
73	165	Guiding medical needles using single-point tissue manipulation	claim
74	165	Robust servo-control for underwater robots using banks of visual filters	claim
75	165	Global path planning for robust Visual Servoing in complex environments	claim
76	165	Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements	claim
77	164	Information retrieval system for human-robot communication - Asking for directions	claim
78	164	Assigning cameras to subjects in video surveillance systems	claim
79	163	3D tree reconstruction from laser range data	claim
80	163	On fast surface reconstruction methods for large and noisy point clouds	claim
81	163	Markerless human motion tracking with a flexible model and appearance learning	claim
82	163	Object handling tasks based on active tactile and slippage sensations in a multi-fingered humanoid robot arm	claim
83	162	Distributed sensor analysis for fault detection in tightly-coupled multi-robot team tasks	claim
84	162	SLAM in large indoor environments with low-cost, noisy, and sparse sonars	claim
85	161	Multi-vehicle path planning in dynamically changing environments	claim
86	161	Learning and generalization of motor skills by learning from demonstration	claim
87	161	Control for throwing manipulation by one joint robot	claim
88	160	Tracking of facial features to support human-robot interaction	claim
89	160	Appearance-based loop detection from 3D laser data using the normal distributions transform	claim
90	160	SBC for motion assist using neural oscillator	claim
91	159	Development of inspection robot for under floor of house	claim
92	159	Tendon-based transmission systems for robotic devices: Models and control algorithms	claim
93	159	State transition, balancing, station keeping, and yaw control for a dynamically stable single spherical wheel mobile robot	claim
94	158	A guidance and control strategy for dynamic soaring with a gliding UAV	claim
95	158	MMM-classification of 3D range data	claim
96	157	From pixels to objects: Enabling a spatial model for humanoid social robots	claim
97	157	Modeling and 3D local estimation for in-plane and out-of-plane motion guidance by 2D ultrasound-based visual servoing	claim
98	156	Deformation modeling of belt object with angles	claim
99	156	Human brain-teleoperated robot between remote places	claim
100	156	Aerodynamics of dragonfly flight and robotic design	claim
101	156	An explorative study of visual servo control with insect-inspired Reichardt-model	claim
102	155	Monte Carlo simultaneous localization of multiple unknown transient radio sources using a mobile robot with a directional antenna	claim
103	155	Simultaneous localization of mobile robot and multiple sound sources using microphone array	claim
104	155	Automatic formation deployment of decentralized heterogeneous multi-robot networks with limited sensing capabilities	claim
105	155	Active multi-view object search on a humanoid head	claim
106	154	On the complexity and consistency of UKF-based SLAM	claim
107	153	Using critical junctures and environmentally-dependent information for management of tightly-coupled cooperation in heterogeneous robot teams	claim
108	152	Reachability-guided sampling for planning under differential constraints	claim
109	152	Integration of active and passive compliance control for safe human-robot coexistence	claim
110	152	Parking with the essential matrix without short baseline degeneracies	claim
111	151	HSM3D: Feature-less global 6DOF scan-matching in the Hough/Radon domain	claim
112	151	Probabilistic estimation of Multi-Level terrain maps	claim
113	151	A framework for modeling steady turning of robotic fish	claim
114	151	Minimalistic control of a compass gait robot in rough terrain	claim
115	151	Encoding molecular motions in voxel maps	claim
116	151	Surface identification using simple contact dynamics for mobile robots	claim
117	150	Analytic error variance predictions for planar vehicles	claim
118	150	Ability to hold grasped objects by underactuated hands: Performance prediction and experiments	claim
119	150	Flow separation for fast and robust stereo odometry	claim
120	150	Piezoelectric ultrasonic resonant micromotor with a volume of less than 1 mm3 for use in medical microbots	claim
121	149	On achievable accuracy for pose tracking	claim
122	149	LSH-RANSAC: An incremental scheme for scalable localization	claim
123	148	Tracked vehicle with circular cross-section to realize sideways motion	claim
124	148	Active guidance of a handheld micromanipulator using visual servoing	claim
125	148	Graph-based robust shape matching for robotic application	claim
126	148	Dynamic path planning with multi-agent data fusion - The Parallel Hierarchical Replanner	claim
127	147	Effect of time delay on telesurgical performance	claim
128	147	Milligram-scale high-voltage power electronics for piezoelectric microrobots	claim
129	147	Generating Robot/Agent backchannels during a storytelling experiment	claim
130	147	Equipping robot control programs with first-order probabilistic reasoning capabilities	claim
131	146	Optimized passive dynamics improve transparency of haptic devices	claim
132	145	Learning 3-D object orientation from images	claim
133	145	Distributed maximum a posteriori estimation for multi-robot cooperative localization	claim
134	145	A two-steps next-best-view algorithm for autonomous 3D object modeling by a humanoid robot	claim
135	145	Force estimation in a piezoelectric cantilever using the inverse-dynamics-based UIO technique	claim
136	145	Expansion segmentation for visual collision detection and estimation	claim
137	144	Analysis of sliding of a soft fingertip embedded with a novel micro force/moment sensor: Simulation, experiment, and application	claim
138	144	Clothes state recognition using 3D observed data	claim
139	144	Integration of multi-level postural balancing on humanoid robots	claim
140	144	Reusable electronics and adaptable communication as implemented in the odin modular robot	claim
141	143	Randomized model predictive control for robot navigation	claim
142	143	Revisiting uncertainty analysis for optimum planes extracted from 3D range sensor point-clouds	claim
143	143	The Columbia grasp database	claim
144	143	Least absolute policy iteration for robust value function approximation	claim
145	143	Decentralized localization for dynamic and sparse robot networks	claim
146	142	Pose estimation and adaptive robot behaviour for human-robot interaction	claim
147	142	Optimal coverage for multiple hovering robots with downward facing cameras	claim
148	142	Making networked robots connectivity-aware	claim
149	141	Development of insect thorax based flapping mechanism	claim
150	141	Detecting repeated motion patterns via Dynamic Programming using motion density	claim
151	141	Towards a navigation system for autonomous indoor flying	claim
152	140	Passive force analysis with elastic contacts for fixturing and grasping	claim
153	140	1000 Trials: An empirically validated end effector that robustly grasps objects from the floor	claim
154	140	Remote haptic feedback from a dynamic running machine	claim
155	140	A miniature ceiling walking robot with flat tacky elastomeric footpads	claim
156	140	Robot basketball: A comparison of ball dribbling with visual and force/torque feedback	claim
157	139	Transfer of knowledge for a climbing Virtual Human: A reinforcement learning approach	claim
158	139	Laser-based navigation enhanced with 3D time-of-flight data	claim
159	139	Stereo vision and terrain modeling for quadruped robots	claim
160	138	Safe motion planning computation for databasing balanced movement of humanoid robots	claim
161	138	Dynamically running quadrupeds self-stable region expansion by mechanical design	claim
162	138	Which landmark is useful? Learning selection policies for navigation in unknown environments	claim
163	137	Integration of impedance control and manipulability regulation for a finger-arm robot	claim
164	137	Improved inverse-depth parameterization for monocular simultaneous localization and mapping	claim
165	137	An optimized Linear Model Predictive Control solver for online walking motion generation	claim
166	137	Continuous vocal imitation with self-organized vowel spaces in Recurrent Neural Network	claim
167	137	Unsupervised learning of 3D object models from partial views	claim
168	137	Multiple-model RANSAC for ego-motion estimation in highly dynamic environments	claim
169	136	PDAC-based underactuated 3D bipedal walking - Stabilization of PDAC constants and walking direction control -	claim
170	135	Posture control of a dual-crawler-driven robot	claim
171	135	A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements	claim
172	135	Global transparency analysis of the Lawrence teleoperator architecture	claim
173	134	Singularity avoidance for over-actuated, pseudo-omnidirectional, wheeled mobile robots	claim
174	134	Combining search and action for mobile robots	claim
175	134	High dynamic range stereo vision for outdoor mobile robotics	claim
176	133	A stochastically stable solution to the problem of robocentric mapping	claim
177	132	On connectivity maintenance in linear cyclic pursuit	claim
178	132	Adaptive bayesian filtering for vibration-based terrain classification	claim
179	132	Bayesian surprise and landmark detection	claim
180	132	Smoothed Sarsa: Reinforcement learning for robot delivery tasks	claim
181	131	Range estimation from a moving camera: An Immersion and Invariance approach	claim
182	131	Fast needle insertion to minimize tissue deformation and damage	claim
183	131	Efficient C-space and cost function updates in 3D for unmanned aerial vehicles	claim
184	130	Qualitative robot localisation using information from cast shadows	claim
185	130	Model adaptation with least-squares SVM for adaptive hand prosthetics	claim
186	130	Generic decoupled image-based visual servoing for cameras obeying the unified projection model	claim
187	130	Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas	claim
188	130	The adelopod tumbling robot	claim
189	130	Regrasp planning for pivoting manipulation by a humanoid robot	claim
190	129	Novel parameter estimation schemes in microsystems	claim
191	129	Modeling and control of a pair of robot fingers with saddle joint under orderless actuations	claim
192	128	Stable dynamic walking of a quadruped via phase modulations against small disturbances	claim
193	128	Tissue property estimation and graphical display for teleoperated robot-assisted surgery	claim
194	128	Interactive segmentation for manipulation in unstructured environments	claim
195	127	Relative bearing estimation from commodity radios	claim
196	127	Crawling by body deformation of tensegrity structure robots	claim
197	127	Thermally constrained motor operation for a climbing robot	claim
198	127	Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot	claim
199	127	High performance anthropomorphic robot hand with grasp force magnification mechanism	claim
200	127	Tankbot: A miniature, peeling based climber on rough and smooth surfaces	claim
201	127	Gaussian Process modeling of large scale terrain	claim
202	127	Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture	claim
203	126	Toward model free atmospheric sensing by aerial robot networks in strong wind fields	claim
204	126	Finding the optimal strategies for robotic patrolling with adversaries in topologically-represented environments	claim
205	126	Leaving Flatland: Toward real-time 3D navigation	claim
206	126	Design and simulation of a joint-coupled orthosis for regulating FES-aided gait	claim
207	126	Time-bounded lattice for efficient planning in dynamic environments	claim
208	125	Delayed-state information filter for cooperative decentralized tracking	claim
209	125	Modeling and motion stability analysis of skid-steered mobile robots	claim
210	125	On computing robust n-finger force-closure grasps of 3D objects	claim
211	125	A novel method for learning policies from constrained motion	claim
212	125	GATMO: A Generalized Approach to Tracking Movable Objects	claim
213	125	Learning motor primitives for robotics	claim
214	125	Mapping opaque and confined environments using proprioception	claim
215	125	Real-world robot navigation amongst deformable obstacles	claim
216	125	Photometry-based visual servoing using light reflexion models	claim
217	125	Robust hitting with dynamics shaping	claim
218	124	Robot-assisted Rapid Prototyping for ice structures	claim
219	124	A real-time helicopter testbed for insect-inspired visual flight control	claim
220	123	Tracking groups of people with a multi-model hypothesis tracker	claim
221	123	Realtime segmentation of range data using continuous nearest neighbors	claim
222	123	Controller decomposition and combination design of body / motion elements based on orbit attractor	claim
223	123	On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs	claim
224	123	Time-minimal path planning in dynamic current fields	claim
225	122	Probabilistic search optimization and mission assignment for heterogeneous autonomous agents	claim
226	122	Torsional kinematic model for concentric tube robots	claim
227	122	Equitable partitioning policies for robotic networks	claim
228	122	Cooperative multi-robot localization under communication constraints	claim
229	122	Utilizing reflection properties of surfaces to improve mobile robot localization	claim
230	122	Body torque modulation for a microrobotic fly	claim
231	121	Differentiated layer design to modify the compliance of soft pads for robotic limbs	claim
232	121	Exploiting angular momentum to enhance bipedal center-of-mass control	claim
233	121	Real-time trajectory generation for car-like vehicles navigating dynamic environments	claim
234	121	Task-space trajectories via cubic spline optimization	claim
235	121	Learning sequential visual attention control through dynamic state space discretization	claim
236	121	Bouncing an Unconstrained Ball in Three Dimensions with a Blind Juggling Robot	claim
237	121	Visual homing for undulatory robotic locomotion	claim
238	119	Survivability: Measuring and ensuring path diversity	claim
239	119	Rapid pole climbing with a quadrupedal robot	claim
240	119	Dynamically diverse legged locomotion for rough terrain	claim
241	118	Design and implementation of a 9-axis inertial measurement unit	claim
242	118	Skillful manipulation based on high-speed sensory-motor fusion	claim
243	117	Safe robot arm with safe joint mechanism using nonlinear spring system for collision safety	claim
244	117	A novel 1D trifocal tensor-based control for differential-drive robots	claim
245	117	Modeling RFID signal strength and tag detection for localization and mapping	claim
246	117	A modified newton-euler method for dynamic computations in robot fault detection and control	claim
247	117	Temporal stabilization of discrete movement in variable environments: An attractor dynamics approach	claim
248	116	A new framework for force feedback teleoperation of robotic vehicles based on optical flow	claim
249	116	Development of grip-type master hand "MeisterGRIP"	claim
250	116	Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control	claim
251	116	Multi-vehicle path coordination in support of communication	claim
252	116	Kinematic analysis and optimal design of a 3T1R type parallel mechanism	claim
253	116	A switching active sensing strategy to maintain observability for vision-based formation control	claim
254	115	Modeling and control of the monopedal robot Thumper	claim
255	115	Multi-robot coordination using generalized social potential fields	claim
256	115	High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening	claim
257	115	Non-grasp manipulation of deformable object by using pizza handling mechanism	claim
258	115	Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task	claim
259	114	Search-based planning for a legged robot over rough terrain	claim
260	113	Visual topological SLAM and global localization	claim
261	113	Wiping motion for deformable object handling	claim
262	113	Study on adhesion force reduction and state estimation by piezo-transducer	claim
263	112	Navigating by stigmergy: A realization on an RFID floor for minimalistic robots	claim
264	112	Combining planning and motion planning	claim
265	111	Model-based and model-free reinforcement learning for visual servoing	claim
266	111	Humanoid robot LOLA	claim
267	111	Interactive learning of the acoustic properties of household objects	claim
268	110	Vertical line matching for omnidirectional stereovision images	claim
269	110	Auxiliary models based multi-innovation gradient identification with colored measurement noises	claim
270	110	Monocular stereo image processing using viewpoint switching iris	claim
271	110	Reactive grasping using optical proximity sensors	claim
272	109	Person identification from human walking sequences using affine moment invariants	claim
273	109	Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar	claim
274	109	Natural self motion of a robotic limb with single degree-of-redundancy	claim
275	109	Self-adapting modular robotics: A generalized distributed consensus framework	claim
276	108	Local decomposition and observability properties for automatic calibration in mobile robotics	claim
277	108	Control of hopping speed and height over unknown rough terrain using a single actuator	claim
278	108	On the generation of feasible paths for aerial robots with limited climb angle	claim
279	107	Probabilistic situation recognition for vehicular traffic scenarios	claim
280	107	Autonomous driving in a multi-level parking structure	claim
281	107	Coordination of multiple non-holonomic agents with input constraints	claim
282	107	Graph-based planning using local information for unknown outdoor environments	claim
283	107	Development of pressure-driven micro active catheter using membrane micro emboss following excimer laser ablation (MeME-X) process	claim
284	106	A robotic sentinel for benthic sampling along a transect	claim
285	106	Simultaneous local and global state estimation for robotic navigation	claim
286	106	Generic nonlinear model of reduced scale UAVs	claim
287	106	A temptative to reach a visual singular configuration using Halley's method	claim
288	106	Oriented bounding surfaces with at most six common normals	claim
289	106	Stochastic strategies for a swarm robotic assembly system	claim
290	106	On-line time-optimal path tracking for robots	claim
291	106	Inverse kinematics with closed form solutions for highly redundant robotic systems	claim
292	106	On-line planning of nonholonomic trajectories in crowded and geometrically unknown environments	claim
293	103	Finding good cycle constraints for large scale multi-robot SLAM	claim
294	103	Modeling and motion planning for mechanisms on a non-inertial base	claim
295	103	Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots	claim
296	102	Safe fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping	claim
297	101	Traversable path identification in unstructured terrains: A Markov random walk approach	claim
298	101	Global vector field computation for feedback motion planning	claim
299	100	Theoretical analysis of three bio-inspired plume tracking algorithms	claim
300	100	Three-dimensional measurement of objects in water by using space encoding method	claim
301	100	Multi-robot plan adaptation by constrained minimal distortion feature mapping	claim
302	98	A numerical solution to the ray-shooting problem and its applications in robotic grasping	claim
303	98	Compact analysis of 3D bipedal gait using geometric dynamics of simplified models	claim
304	98	Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT	claim
305	98	Multi-robot routing with linear decreasing rewards over time	claim
306	98	Path following for an omnidirectional mobile robot based on model predictive control	claim
307	97	Tuning the gains of haptic couplings to improve force feedback stability in nanorobotics	claim
308	96	Harnessing bacterial power in microscale actuation	claim
309	96	Safe longitudinal platoons of vehicles without communication	claim
310	94	Inferring a probability distribution function for the pose of a sensor network using a mobile robot	claim
311	94	Physical parameter identification of rheological object based on measurement of deformation and force	claim
312	92	I-Bug: An intensity-based bug algorithm	claim
313	92	SINGO: A single-end-operative and genderless connector for self-reconfiguration, self-assembly and self-healing	claim
314	92	Observations and models for needle-tissue interactions	claim
315	91	Specialization as an optimal strategy under varying external conditions	claim
316	90	Parallel-distributed model in three-dimensional soft-fingered grasping and manipulation	claim
317	86	Transmission of tactile roughness through master-slave systems	claim
318	83	Real-time correlative scan matching	claim
319	83	The kinematic modeling and optimal paramerization of an omni-directional pipeline robot	claim
320	81	Representing sets of orientations as convex cones	claim
321	70	Surveying noctural cuttlefish camouflage behaviour using an AUV	claim

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