Using Lie algebra for shape estimation of medical snake robots.

Rangaprasad Arun Srivatsan Matthew J. Travers Howie Choset

Published in: IROS (2014)

Keyphrases

shape estimation
lie algebra
lie group
shape from shading
shape modeling
mobile robot
inverse kinematics
rigid motion
active contours
structure from motion
active contour model
medical imaging
b spline
multiscale
motion field
segmentation method
point correspondences
optic flow
feature space