In order to assist surgeons during surgery on moving organs, e.g. minimally invasive beating heart bypass surgery, a master-slave system which synchronizes surgical instruments with the organ's motion is desired. This synchronization requires reliable estimation of the organ's motion. In this paper, we present a new approach to motion estimation based on a state motion model for a partition of the heart's surface. Its motion behavior is described by a partial differential equation whose input function is assumed to be periodic. An estimator is used on one hand to predict future model states based on reconstruction of the input function and on the other hand to incorporate noisy spatially discrete measurements in order to improve state estimation. The model-based motion estimation is evaluated using a simple heart simulator. Measurements are obtained by reconstructing 3D position of markers on a pulsating membrane by means of a stereo camera system.

ABSTRACT:Oblique aerial images become more and more distributed to fill the gap between vertical aerial images and mobile mapping systems. Different systems are on the market. For some applications, like texture mapping, precise orientation data are required. One point is the stable interior orientation, which can be achieved by stable camera systems, the other a precise exterior orientation. A sufficient exterior orientation can be achieved by a large effort in direct sensor orientation, whereas minor errors in the angles have a larger effect than in vertical imagery. The more appropriate approach is by determine the precise orientation parameters by photogrammetric methods using an adapted aerial triangulation. Due to the different points of view towards the object the traditional aerotriangulation matching tools fail, as they produce a bunch of blunders and require a lot of manual work to achieve a sufficient solution. In this paper some approaches are discussed and results are presented for the most promising approaches. We describe a single step approach with an aerotriangulation using all available images; a two step approach with an aerotriangulation only of the vertical images plus a mathematical transformation of the oblique images using the oblique cameras excentricity; and finally the extended functional model for a bundle block adjustment considering the mechanical connection between vertical and oblique images. Beside accuracy also other aspects like efficiency and required manual work have to be considered.

Allometric equations are often based on the body mass of an animal because body mass determines many physiological functions. This should also hold for Brachiosaurus brancai and Dicraeosaurus hansemanni, two sauropods from the Upper Jurassic of Tendaguru/Tanzania (East Africa) . Widely divergent estimates of body mass for the same specimen can be found in the literature for these two sauropods. Therefore, in order to determine the exact body mass and volume distribution in these sauropods, classical three-dimensional stereophotogrammetry as well as a newly developed laser scanner technique were applied to the mounted skeletons of Brachiosaurus brancai and Dicraeosaurus hansemanni in the Museum für Naturkunde (Berlin, Germany) . Thereafter, scaling equations were used to estimate the size of organ systems. In a second step it was tested whether the given data from photogrammetry could be brought in line with the results derived from the allometric equations. These findings are applied to possible ecological problems in the Upper Jurassic of Tendaguru/Tanzania .Key words: Dinosauria, Sauropoda, palaeophysiology, evolutionary physiology, palaeoecology, body mass estimations, metabolism, nutrition, gait and posture . ZusammenfassungDer Körpermasse eines Organismus werden oft allometrische Funktionen zugrunde gelegt, da von ihr viele physiologische Funktionen entscheidend abhängen . Dies sollte auch für ausgestorbene Organismen wie Brachiosaurus brancai und Dicraeosaurus hansemanni, zwei Sauropoden aus dem oberen Jura von Tendaguru/Tanzania in Ostafrika gelten. Da zu beiden Sauropoden nur sehr unterschiedliche Massenabschätzungen vorliegen, wurden die Körpermassen und Volumina von Brachiosaurus brancai und Dicraeosaurus hansemanni mit Hilfe der klassischen Photogrammetrie sowie einem neuentwickelten Laserscannerverfahren neu bestimmt. Basierend auf den so gemessenen Körpermassendaten wurden anschließend einige wichtige funktionell-morphologische Größen für eine paläophysiologische Rekonstruktion dieser Sauropoden mit Hilfe der Allometrie berechnet. Die gewonnenen Ergebnisse sind u . a. wichtig für die Rekonstruktion eines Ökosystems im oberen Jura von Ostafrika .

To derive physiological data of dinosaurs, it is necessary to determine the volume and the surface area of this animals. For this purpose, a detailed survey of reconstructed skeletons is required. The skeletons of three dinosaurs in the Museum für Naturkunde in Berlin and two skeletons in the Museum d'Histoire Naturelle in Paris have been surveyed using stereo photogrammetry. Two of the Berlin skeletons were also surveyed with the close range laser scanners of the Institut für Navigation of the Universität Stuttgart. Both data acquisition techniques require a geodetic control network as a geometric reference system. The surveying methods used, together with results of mathematical approaches for the determination of the volume and surface of the animals are presented in this paper.

No abstract

No abstract

No abstract

To derive physiological data of dinosaurs, it is necessary to determine the volume and the surface area of this animals . For this purpose, a detailed survey of reconstructed skeletons is required . The skeletons of three dinosaurs in the Museum ftir Naturkunde in Berlin and two skeletons in the Museum d'Histoire Naturelle in Paris have been surveyed using stereo photogrammetry. Two of the Berlin skeletons were also surveyed with the close range laser scanners of the Institut für Navigation of the Universität Stuttgart . Both data acquisition techniques require a geodetic control network as a geometric reference system . The surveying methods used, together with results of mathematical approaches for the determination of the volume and surface of the animals are presented in this paper .