Epipolar Geometry-Based Visual Servoing of Soft Endoscopic Manipulator for Transoral Laser Ablation.
Ge FangXiaomei WangJustin D. L. HoKui WangMarco C. K. ChowKit-Hang LeeXiaochen XieWai Lun TangLiyuan LiangHing-Chiu ChangChun-Jung JuanYunhui LiuJason Ying-Kuen ChanKa-Wai KwokPublished in: Adv. Intell. Syst. (2022)
Keyphrases
- visual servoing
- epipolar geometry
- camera motion
- end effector
- robotic arm
- trajectory tracking
- vision system
- image based visual servoing
- fundamental matrix
- image sequences
- mobile robot
- video sequences
- feature points
- structure from motion
- intraoperative
- point correspondences
- image pairs
- moving objects
- minimally invasive
- optical flow
- visual feedback
- degrees of freedom
- control law
- epipolar lines
- minimally invasive surgery
- path planning
- robot control
- real time
- affine epipolar geometry
- motion planning
- depth map
- d objects
- control system
- computer vision