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. La-robotique-médicale, Trois familles de systèmes robotiques peuvent être distinguées, dans le domaine de la chirurgie, de la réhabilitation et de la simulation d'acte médicaux

.. Aviso-en-cours-d-'évaluation-au-centre-de-garches, Aviso est un bras Manus équipé d'un banc de stéréovision et d'une interface homme machine intuitive, p.33

.. La-baguette-xwand-contient-une-centrale-inertielle-et-un-laser, Elle permet de pointer un périphérique d'une maison intelligente et d'agir sur son état : allumer la télévision, allumer ou éteindre une lampe, etc, p.39

. .. La-géométrie-Épipolaire-de-deux-vues, Le couple de points homologues est 1 x m et 2 x m . Les centres des caméras sont O 1 et O 2 . Les épipoles sont e 1 and e 2 dans le plan image de la caméra 1 et dans celui de la caméra 2, respectivement. La droite l 1 est la droite épipolaire associée à 2 x m, p.55

À. Gauche-une-image-acquise-depuis-la-caméra-déportée,-À-droite and .. , une image acquise depuis la caméra embarquée Deux paires de points mis en correspondance sont représentées ( e x 1 ; d x 1 ) et ( e x 2 ; d x 2 ) La première paire vérie la contrainte épipolaire tandis que la seconde paire est un faux positif, p.91

.. Localisation-de-l-'objet-le-long-de-la-ligne-de-vue-et-la-vue-déportée, Dans cet exemple, trois vues embarquées sont acquises. L'objet est inclus dans les deux premières vues et absent de la troisème vue, Il est localisé à partir des mises en correspondance entre chacune de ces vues embarquées, p.92

À. Partir-d-de-vue and .. , une paire de points homologues et connaissant la position relative des deux caméras, le point 3D d X correspondant peut être calculé. Sa projection orthogonale d H sur la ligne de vue associée au point cliqué donne une indication sur la profondeur D de ce point le long de la ligne de vue. La distance h est la distance euclidienne entre le point et la ligne, p.94

R. Le, Localisation d'une bouteille d'eau sur un fond texturé sur, p.105

.. Cas-limite-de-l, algorithme de localisation : plusieurs objets semblable à l'objet d'intérêt se trouve sur la ligne de vue, p.109

.. Chaque-vue, 15 a) objet réel b) reconstruction duale c) reconstruction non linéaire, d) reconstruction robuste. Les trois gures horizontales sont les projections de la quadrique reconstruite par la méthode e) duale, f) non linéaire g) robuste, p.150

.. Comme-dans-le-cadre-de-notre-Étude, La segmentation repose sur l'hypothèse que l'objet se trouve à l'emplacement de la zone la plus texturée de l'image. À gauche l'image à traiter, au centre les contours détectés et à droite la détection du blob contenant l'objet, p.156

.. Suivi-d-'un-objet-de-couleur-uniforme-sur-une-arrière-plan-complexe, Le contour actif est initialisé à l'intérieur de l'objet, par un petit rectangle centré sur le clic Le centre du contour est mis à jour après convergence et est utilisé comme point d'initialisation pour la détection du contour dans l'image suivante de la séquence. Dans l'image 1) le contour jaune est le contour initial, les contours bleus sont les positions intermédiaires et le contour vert est le contour à convergence, p.165

.. Suivi-d-'un-objet-sur-un-fond-uniforme, Le contour actif est initialisé à l'extérieur de l'objet, par une boite englobante centrée sur un point appartenant à l'objet et de côté, deux fois la distance séparant ce point des bords de l'image. Après convergence, le point central du contour est mis à jour en calculant le barycentre du contour et la boite englobante correspondant. Cette nouvelle boite est utilisée comme initialisation pour l'image suivante, p.167