Comparing Fiducial Marker Systems Occlusion Resilience through a Robot Eye

2017 ◽  
Author(s):  
Ksenia Shabalina ◽  
Artur Sagitov ◽  
Hongbing Li ◽  
Evgeni Magid
Keyword(s):  
Fiducial Marker

Detection and localization of helipad in autonomous UAV landing: a coupled visual-inertial approach with artificial intelligence

2020 ◽  
Vol 71 (7) ◽  
pp. 828-839
Author(s):  
Thinh Hoang Dinh ◽  
Hieu Le Thi Hong
Keyword(s):  
Neural Network ◽  
Unmanned Aerial Vehicles ◽  
Fiducial Marker ◽  
Localization Algorithm ◽  
Challenging Problem ◽  
Autonomous Landing ◽  
Aerial Vehicles ◽  
Set Up ◽  
Detection And Localization ◽  
Rotary Wing

Autonomous landing of rotary wing type unmanned aerial vehicles is a challenging problem and key to autonomous aerial fleet operation. We propose a method for localizing the UAV around the helipad, that is to estimate the relative position of the helipad with respect to the UAV. This data is highly desirable to design controllers that have robust and consistent control characteristics and can find applications in search – rescue operations. AI-based neural network is set up for helipad detection, followed by optimization by the localization algorithm. The performance of this approach is compared against fiducial marker approach, demonstrating good consensus between two estimations

scholarly journals Cobot User Frame Calibration: Evaluation and Comparison between Positioning Repeatability Performances Achieved by Traditional and Vision-Based Methods

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 45
Author(s):  
Roberto Pagani ◽  
Cristina Nuzzi ◽  
Marco Ghidelli ◽  
Alberto Borboni ◽  
Matteo Lancini ◽  
...  
Keyword(s):  
Quantitative Analysis ◽  
Production Line ◽  
Calibration Method ◽  
Fiducial Marker ◽  
Positioning System ◽  
Local Calibration ◽  
Calibration Methods ◽  
Robot Positioning ◽  
Good Repeatability ◽  
Calibration Time

Since cobots are designed to be flexible, they are frequently repositioned to change the production line according to the needs; hence, their working area (user frame) needs to be often calibrated. Therefore, it is important to adopt a fast and intuitive user frame calibration method that allows even non-expert users to perform the procedure effectively, reducing the possible mistakes that may arise in such contexts. The aim of this work was to quantitatively assess the performance of different user frame calibration procedures in terms of accuracy, complexity, and calibration time, to allow a reliable choice of which calibration method to adopt and the number of calibration points to use, given the requirements of the specific application. This has been done by first analyzing the performances of a Rethink Robotics Sawyer robot built-in user frame calibration method (Robot Positioning System, RPS) based on the analysis of a fiducial marker distortion obtained from the image acquired by the wrist camera. This resulted in a quantitative analysis of the limitations of this approach that only computes local calibration planes, highlighting the reduction of performances observed. Hence, the analysis focused on the comparison between two traditional calibration methods involving rigid markers to determine the best number of calibration points to adopt to achieve good repeatability performances. The analysis shows that, among the three methods, the RPS one resulted in very poor repeatability performances (1.42 mm), while the three and five points calibration methods achieve lower values (0.33 mm and 0.12 mm, respectively) which are closer to the reference repeatability (0.08 mm). Moreover, comparing the overall calibration times achieved by the three methods, it is shown that, incrementing the number of calibration points to more than five, it is not suggested since it could lead to a plateau in the performances, while increasing the overall calibration time.

Generation of fiducial marker dictionaries using Mixed Integer Linear Programming

2016 ◽  
Vol 51 ◽  
pp. 481-491 ◽  
Author(s):  
S. Garrido-Jurado ◽  
R. Muñoz-Salinas ◽  
F.J. Madrid-Cuevas ◽  
R. Medina-Carnicer
Keyword(s):  
Linear Programming ◽  
Integer Linear Programming ◽  
Mixed Integer Linear Programming ◽  
Fiducial Marker ◽  
Mixed Integer

scholarly journals PO-0946: A new liquid fiducial marker formulation for image-guided pencil beam scanning proton radiotherapy

2016 ◽  
Vol 119 ◽  
pp. S459-S460 ◽  
Author(s):  
J. Scherman Rydhög ◽  
R. Perrin ◽  
R. Irming Jølck ◽  
T. Lomax ◽  
F. Gagnon-Moisan ◽  
...  
Keyword(s):  
Fiducial Marker ◽  
Pencil Beam ◽  
Proton Radiotherapy ◽  
Beam Scanning ◽  
Image Guided ◽  
Pencil Beam Scanning

scholarly journals Frameless robotic stereotactic biopsies: a consecutive series of 100 cases

2015 ◽  
Vol 122 (2) ◽  
pp. 342-352 ◽  
Author(s):  
Michel Lefranc ◽  
Cyrille Capel ◽  
Anne-Sophie Pruvot-Occean ◽  
Anthony Fichten ◽  
Christine Desenclos ◽  
...  
Keyword(s):  
Stereotactic Biopsy ◽  
Clinical Symptoms ◽  
Diagnostic Yield ◽  
Ct Scanning ◽  
Fiducial Marker ◽  
Surface Registration ◽  
Histological Diagnosis ◽  
Consecutive Series ◽  
Mortality And Morbidity ◽  
Stereotactic Biopsies

OBJECT Stereotactic biopsy procedures are an everyday part of neurosurgery. The procedure provides an accurate histological diagnosis with the least possible morbidity. Robotic stereotactic biopsy needs to be an accurate, safe, frameless, and rapid technique. This article reports the clinical results of a series of 100 frameless robotic biopsies using a Medtech ROSA device. METHODS The authors retrospectively analyzed their first 100 frameless stereotactic biopsies performed with the robotic ROSA device: 84 biopsies were performed by frameless robotic surface registration, 7 were performed by robotic bone fiducial marker registration, and 9 were performed by scalp fiducial marker registration. Intraoperative flat-panel CT scanning was performed concomitantly in 25 cases. The operative details of the robotic biopsies, the diagnostic yield, and mortality and morbidity data observed in this series are reported. RESULTS A histological diagnosis was established in 97 patients. No deaths or permanent morbidity related to surgery were observed. Six patients experienced transient neurological worsening. Six cases of bleeding within the lesion or along the biopsy trajectory were observed on postoperative CT scans but were associated with transient clinical symptoms in only 2 cases. Stereotactic surgery was performed with patients in the supine position in 93 cases and in the prone position in 7 cases. The use of fiducial markers was reserved for posterior fossa biopsy via a transcerebellar approach, via an occipital approach, or for pediatric biopsy. CONCLUSIONS ROSA frameless stereotactic biopsies appear to be accurate and safe robotized frameless procedures.

PH-0482: Inter-observer variation of burned-in fiducial marker positions for MR-only prostate radiotherapy

2020 ◽  
Vol 152 ◽  
pp. S271-S272
Author(s):  
F. Beeksma ◽  
J. Visser ◽  
M. Boon ◽  
K. Goudschaal ◽  
M. Bijveld ◽  
...  
Keyword(s):  
Observer Variation ◽  
Fiducial Marker ◽  
Prostate Radiotherapy

PO-1209: A novel liquid fiducial marker for imageguided adaptive radiotherapy in bladder cancer.

2020 ◽  
Vol 152 ◽  
pp. S637
Author(s):  
M. De Ridder ◽  
L.C. Gebrandy ◽  
T.M. De Reijke ◽  
K.A. Hinnen ◽  
M.C.C.M. Hulshof
Keyword(s):  
Bladder Cancer ◽  
Fiducial Marker ◽  
Adaptive Radiotherapy
Sign in / Sign up

Export Citation Format

Share Document