Epipolar Geometry for Vision-guided Laser Surgery

Nicolas Andreff, Sounkalo Dembélé, Brahim Tamadazte, Zill-e Hussnain

2013

Abstract

This paper proposes to use the analogy between a scanning laser beam and a camera. Thereby, a degenerate stereoscopic system can be defined by such a virtual camera and a real camera observing the laser spot on the tissues. This system can be mathematically described by means of epipolar geometry. From the latter, a vision-based control law which has no any matrix inversion nor estimation of the 3D scene is developed. According to the first results of simulation, the proposed control law shows an exponential convergence and robustness with the presence of noise in the sensors signals.

Paper Citation

in Harvard Style

Andreff N., Dembélé S., Tamadazte B. and Hussnain Z. (2013). Epipolar Geometry for Vision-guided Laser Surgery . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 471-476. DOI: 10.5220/0004595904710476

in Bibtex Style

@conference{icinco13,
author={Nicolas Andreff and Sounkalo Dembélé and Brahim Tamadazte and Zill-e Hussnain},
title={Epipolar Geometry for Vision-guided Laser Surgery},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={471-476},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004595904710476},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Epipolar Geometry for Vision-guided Laser Surgery
SN - 978-989-8565-71-6
AU - Andreff N.
AU - Dembélé S.
AU - Tamadazte B.
AU - Hussnain Z.
PY - 2013
SP - 471
EP - 476
DO - 10.5220/0004595904710476