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Vision et Reconstruction 3D basée sur la Texture: Application à la Robotique Médicale.

Aurélien Noce 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This work details the setup of a 3D vision component, itself par of a larger framework developped at the LIRMM and dedicated to motion compensation on the beating heart. Our goal was to track the motion of the heart at real-time and evaluate the 3D position of the surface of the organ. These informations are obtained from video data from one or two cameras. A first contribution is a method to choose texture-based descriptors to robustly characterize the surface of the organ and track it. The other main contribution is a tracking method, based on both these descriptors and pattern matching, that showed good results on in-vivo experiments. This method is applied on real-life images to compute 2D and 3D motion, and its results are compared with the ones of other existing approaches.
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Contributor : Aurélien Noce <>
Submitted on : Tuesday, November 18, 2008 - 6:33:15 PM
Last modification on : Friday, May 17, 2019 - 11:41:29 AM
Long-term archiving on: : Monday, June 7, 2010 - 7:28:21 PM


  • HAL Id : tel-00339769, version 1



Aurélien Noce. Vision et Reconstruction 3D basée sur la Texture: Application à la Robotique Médicale.. Automatique / Robotique. Université Montpellier II - Sciences et Techniques du Languedoc, 2008. Français. ⟨tel-00339769⟩



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