Physics-Based Probabilistic Motion Compensation of Elastically Deformable Objects

• Main Author: Ballmann, Evgeniya (auth)
• Format: Electronic Book Chapter
• Language: English
• Published: KIT Scientific Publishing 2012
• Series: Karlsruhe Series on Intelligent Sensor-Actuator-Systems / Karlsruher Institut für Technologie, Intelligent Sensor-Actuator-Systems Laboratory
• Subjects: stochastic estimation; physics-based modeling; robotics; distributed parameter systems; beating heart surgery; video processing; probabilistic models
• Online Access: DOAB: download the publication; DOAB: description of the publication

A predictive tracking approach and a novel method for visual motion compensation are introduced, which accurately reconstruct and compensate the deformation of the elastic object, even in the case of complete measurement information loss. The core of the methods involves a probabilistic physical mod...