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Authors: M. Ourak 1 ; B. Tamadazte 1 ; N. Andreff 1 and E. Marchand 2

Affiliations: 1 Universit´e de Franche-Comt´e/CNRS/ENSMM, France ; 2 Université de Rennes 1, France

Keyword(s): Visual Servoing, Mutual Information, Nelder-Mead Simplex.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: 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.

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Paper citation in several formats:
Ourak, M.; Tamadazte, B.; Andreff, N. and Marchand, E. (2015). Visual Servoing-based Registration of Multimodal Images. In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-123-6; ISSN 2184-2809, SciTePress, pages 44-51. DOI: 10.5220/0005528900440051

@conference{icinco15,
author={M. Ourak. and B. Tamadazte. and N. Andreff. and E. Marchand.},
title={Visual Servoing-based Registration of Multimodal Images},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2015},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005528900440051},
isbn={978-989-758-123-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Visual Servoing-based Registration of Multimodal Images
SN - 978-989-758-123-6
IS - 2184-2809
AU - Ourak, M.
AU - Tamadazte, B.
AU - Andreff, N.
AU - Marchand, E.
PY - 2015
SP - 44
EP - 51
DO - 10.5220/0005528900440051
PB - SciTePress

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