Visual Servoing-based Registration of Multimodal Images
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Visual Servoing-based Registration of Multimodal Images |
| Type de publication | Conference Paper |
| Year of Publication | 2015 |
| Auteurs | Ourak M., Tamadazte B., Andreff N., Marchand E. |
| Conference Name | ICIMCO 2015 PROCEEDINGS OF THE 12TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL. 2 |
| Publisher | Inst Syst & Technologies Informat Control & Commun; Univ Upper Alsace; IEEE Control Syst Soc; IEEE Robot & Automat Soc; Int Federat Automat Control; EUROMICRO; Assoc Advancement Artificial Intelligence; Associacao Portuguesa Controlo Automatico; Int Neura |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-9-8975-8149-6 |
| Mots-clés | Mutual Information, Nelder-Mead Simplex, Visual Servoing |
| Résumé | This paper deals with mutual information-based numerical and physical registration of white light images vs. fluorescence images for microrobotic laser microphonosurgery of the vocal folds. More precisely, it presents two techniques: a numerical registration of multimodal images and a vision feedback control for positioning an endoscope with regards to a preoperative image (fluorescence image). Nelder-Mead Simplex for nonlinear optimization is used to minimize the cost-function. The proposed methods are successfully validated in an experimental set-up using preoperative fluorescence images and real-time white light images of the vocal folds. |