On exact linear equations for the computation of the rotational elements of absolute orientation

Schut, G. H.

doi:10.1016/s0031--866(3()60)80029--4

Cited by 23 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The method of Thompson (1958) depends on selective neglect of the extra constraints when all coordinates of three points are known. Schut (1960) proposed an alternative method based on unit quaternion and a set of linear equations. However, neither method handles more than three data points nor they use all the information available from the three points.…”

Section: Coordinate Systems and The Iterative Closest Point Algorithmmentioning

confidence: 99%

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm

et al. 2013

View full text Add to dashboard Cite

Previous studies have shown that during cancer radiotherapy a small translation or rotation of the tumor can lead to errors in dose delivery. Current best practice in radiotherapy accounts for tumor translations, but is unable to address rotation due to a lack of a reliable real-time estimate. We have developed a method based on the iterative closest point (ICP) algorithm that can compute rotation from kilovoltage x-ray images acquired during radiation treatment delivery. A total of 11 748 kilovoltage (kV) images acquired from ten patients (one fraction for each patient) were used to evaluate our tumor rotation algorithm. For each kV image, the three dimensional coordinates of three fiducial markers inside the prostate were calculated. The three dimensional coordinates were used as input to the ICP algorithm to calculate the real-time tumor rotation and translation around three axes. The results show that the root mean square error was improved for real-time calculation of tumor displacement from a mean of 0.97 mm with the stand alone translation to a mean of 0.16 mm by adding real-time rotation and translation displacement with the ICP algorithm. The standard deviation (SD) of rotation for the ten patients was 2.3°, 0.89° and 0.72° for rotation around the right-left (RL), anterior-posterior (AP) and superior-inferior (SI) directions respectively. The correlation between all six degrees of freedom showed that the highest correlation belonged to the AP and SI translation with a correlation of 0.67. The second highest correlation in our study was between the rotation around RL and rotation around AP, with a correlation of -0.33. Our real-time algorithm for calculation of rotation also confirms previous studies that have shown the maximum SD belongs to AP translation and rotation around RL. ICP is a reliable and fast algorithm for estimating real-time tumor rotation which could create a pathway to investigational clinical treatment studies requiring real-time measurement and adaptation to tumor rotation.

show abstract

Section: Coordinate Systems and The Iterative Closest Point Algorithmmentioning

confidence: 99%

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm

et al. 2013

View full text Add to dashboard Cite

show abstract

“…For each set of estimates, RANSAC with least-squares fit of a plane is used to eliminate outliers out-of-plane plane points. The remaining set of r back projected coordinates in the acquired time sample s are then used to estimate an optimal uniform scale factor, S s , rotation matrix, R s , and translation vector, t s [17], [22]. The algorithm in [17] is modified slightly by first normalizing each coordinateL i and L i relative to their respective point centroids:…”

Section: Registration and Alignmentmentioning

confidence: 99%

An automated system for persistent real-time truck parking detection and information dissemination

Cook

Morris

Morellas

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Tractor-trailer freight hauling has increased markedly within the United States over the past several years, resulting in higher truck volumes. commercial heavy vehicle drivers are required under federal Hours Of Services rules to rest and take breaks to mitigate driving while fatigued. Although there are many rest area facilities available to truck drivers, there is a lack of persistent timely information on truck parking availability. An automated real-time sensing system to directly detect and disseminate parking space occupancy from truck parking facilities is described in detail. The methodology and system architecture are presented in which robust, persistent, parking occupancy detection is achieved by extending Structure from Motion (SfM) techniques using a multiplicity of commercial, off-the-shelf cameras. The system architecture allows the approach to be scaled to a region-wide comprehensive truck parking information system for commercial heavy vehicle drivers and operators. Per parking space detection accuracy of 99% is achieved over continuous operation. Classification accuracy under diverse scene and parking behavior scenarios is discussed.

show abstract

“…Later, Schut employed quaternations to reduce the computational cost of the algorithm. Other variations from Thompson work were presented [9] [10], all focused on reducing the computational cost of the rotation matrix. All these algorithms claim to be "exact" but it does not mean "close".…”

Section: Related Workmentioning

confidence: 99%

Robust orientation-location hyabrid algorithm

Gonzalez

Bleakley

2008

2008 3rd International Symposium on Wireless Pervasive Computing

View full text Add to dashboard Cite

Recently location estimation systems have included extra hardware to estimate orientation as well as location. Herein, a novel robust combined orientation-location estimation algorithm that relies on Time of Arrival (ToA) and Angle of Arrival (AoA) measurements is presented. Simulations show that the method provides high accuracy location and orientation estimation for typical errors in ToA and AoA measurements.

show abstract

On exact linear equations for the computation of the rotational elements of absolute orientation

Cited by 23 publications

References 0 publications

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm

An automated system for persistent real-time truck parking detection and information dissemination

Robust orientation-location hyabrid algorithm

Contact Info

Product

Resources

About