Nonlinear Refinement of Camera Parameters Using an Endoscopic Surgery Robot.
Jochen SchmidtFlorian VogtHeinrich NiemannPublished in: MVA (2002)
Keyphrases
- camera parameters
- vision system
- minimally invasive
- robot assisted
- coronary artery bypass
- surgical robot
- camera calibration
- structure from motion
- surgical instruments
- feature points
- d scene
- minimally invasive surgery
- bundle adjustment
- multi view
- mobile robot
- focal length
- uncalibrated images
- force feedback
- ground plane
- intraoperative
- laparoscopic surgery
- real time
- image guided
- computer assisted
- position and orientation
- visual servoing
- geometrical constraints
- projective geometry
- humanoid robot
- computer vision
- end effector
- image features
- rotation angles
- augmented reality
- robot manipulators
- three dimensional
- camera viewpoint
- image planes
- finding corresponding points
- data sets
- high quality
- surgical procedures
- x ray
- aspect ratio
- multiple views
- degrees of freedom