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Authors: Nicolas Andreff ; Sounkalo Dembélé ; Brahim Tamadazte and Zill-e Hussnain

Affiliation: Université de Franche-Comté/CNRS/ENSMM/UTBM, France

Keyword(s): Laser Surgery, Visual Servoing, Epipolar Geometry.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: This paper proposes to use the analogy between a scanning laser beam and a camera. Thereby, a degenerate stereoscopic system can be defined by such a virtual camera and a real camera observing the laser spot on the tissues. This system can be mathematically described by means of epipolar geometry. From the latter, a vision-based control law which has no any matrix inversion nor estimation of the 3D scene is developed. According to the first results of simulation, the proposed control law shows an exponential convergence and robustness with the presence of noise in the sensors signals.

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Paper citation in several formats:
Andreff, N. ; Dembélé, S. ; Tamadazte, B. and Hussnain, Z. (2013). Epipolar Geometry for Vision-guided Laser Surgery. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 471-476. DOI: 10.5220/0004595904710476

@conference{icinco13,
author={Nicolas Andreff and Sounkalo Dembélé and Brahim Tamadazte and Zill{-}e Hussnain},
title={Epipolar Geometry for Vision-guided Laser Surgery},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2013},
pages={471-476},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004595904710476},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Epipolar Geometry for Vision-guided Laser Surgery
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Andreff, N.
AU - Dembélé, S.
AU - Tamadazte, B.
AU - Hussnain, Z.
PY - 2013
SP - 471
EP - 476
DO - 10.5220/0004595904710476
PB - SciTePress

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