3D proximity laser scanner calibration

Kocmanova, Petra; Žalud, Luděk; Chromý, Adam

doi:10.1109/mmar.2013.6670005

Cited by 11 publications

(7 citation statements)

References 5 publications

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“…It can be used in rescue robotics [68] or experimental biology [69]. In future work, it could be developed with more sensors with data fusion [70], what would allow not only monitoring the oedema, but also find the centre of inflammation due to augmented reality [71].…”

Section: Discussionmentioning

confidence: 99%

Application of High-Resolution 3D Scanning in Medical Volumetry

Chromý¹

2016

International Journal of Electronics and Telecommunications

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Abstract-This paper deals with application of 3D scanning technology in medicine. Important properties of 3D scanners are discussed with emphasize on medical applications. Construction of medical 3D scanner according to these specifications is described and practical application of its use in medical volumetry is presented. Besides volumetry, such 3D scanner is usable for many other purposes, like monitoring of recovery process, ergonomic splint manufacturing or inflammation detection.3D scanning introduces novel volumetric method, which is compared with standard methods. The new method is more accurate compared to present ones. Principles of this method are discussed in paper and its accuracy is evaluated and experimentally verified.

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Section: Discussionmentioning

confidence: 99%

Application of High-Resolution 3D Scanning in Medical Volumetry

Chromý¹

2016

International Journal of Electronics and Telecommunications

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“…The procedure execution time can be markedly decreased by a hierarchical structure allowing us not to check triangles remote from the ray. The presented algorithm exploits a modification of the octree data structure, facilitating the partitioning of the 3D space by recursive subdivision into eight octants [ 24 , 25 ].…”

Section: Methodsmentioning

confidence: 99%

A 3D Scan Model and Thermal Image Data Fusion Algorithms for 3D Thermography in Medicine

Chromý

Klíma

2017

Journal of Healthcare Engineering

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Objectives At present, medical thermal imaging is still considered a mere qualitative tool enabling us to distinguish between but lacking the ability to quantify the physiological and nonphysiological states of the body. Such a capability would, however, facilitate solving the problem of medical quantification, whose presence currently manifests itself within the entire healthcare system. Methods A generally applicable method to enhance captured 3D spatial data carrying temperature-related information is presented; in this context, all equations required for other data fusions are derived. The method can be utilized for high-density point clouds or detailed meshes at a high resolution but is conveniently usable in large objects with sparse points. Results The benefits of the approach are experimentally demonstrated on 3D thermal scans of injured subjects. We obtained diagnostic information inaccessible via traditional methods. Conclusion Using a 3D model and thermal image data fusion allows the quantification of inflammation, facilitating more precise injury and illness diagnostics or monitoring. The technique offers a wide application potential in medicine and multiple technological domains, including electrical and mechanical engineering.

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“…Truly empirical experiments turned out to be somewhat problematic to perform, because acquiring highly accurate control measurements is quite hard. Our real-life application is calibration of surround sensing devices for mobile robots (Zalud et al, 2015), (Kocmanova et al, 2013), in this case a mutual pose of 3D and 2D sensing laser scanners (see Fig. 6).…”

Section: Real Data Testingmentioning

confidence: 99%

Lines to Planes Registration

Jelinek

Ligocki

2019

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics

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This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfil all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into a linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.

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3D proximity laser scanner calibration

Cited by 11 publications

References 5 publications

Application of High-Resolution 3D Scanning in Medical Volumetry

Application of High-Resolution 3D Scanning in Medical Volumetry

A 3D Scan Model and Thermal Image Data Fusion Algorithms for 3D Thermography in Medicine

Lines to Planes Registration

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