Localization algorithm based on machine vision is a hot topic in the field of intelligent mobile robot.A fast method for mobile robot 3D SLAM (simultaneous localization and mapping) was presented to address the problem of 3D modeling in complex indoor environment. After filtering, the SIFT feature is extracted and matched between every two frames of the sequence. According to the camera calibration model and the image feature extraction and matching procedure, the association between two 3D point clouds was established. On the basis of the RANSAC (random sample consensus) algorithm, the correspondence based iterative closest point arithmetic model was solved to realize the robot’s precise localization effectively. With the key frame-to-frame selection mechanism, the 3D map method and the unique normal characteristic of a spatial point were used for maintaining and updating the global map. Experimental results demonstrate the feasibility and effectiveness of the proposed algorithm in the indoor environment.
Imaging of subcutaneous veins is important in many applications, such as gaining venous access, vascular surgery and
venipuncture. Traditional vein imaging system can only obtain the two dimensional information of the vein which loses
the depth information of the vein. It may cause the errors of judgment and increase the venipuncture failure.
On the basis of previous research, a new system was proposed to acquire the three dimensional of the vein. In this paper,
the infrared absorption characteristics of the vein and the principle of binocular vision were combined to obtain infrared
images of subcutaneous veins and recovery the three dimensional information. The binocular vision system was consists
of several 850 nm near-infrared LEDs to illuminate the back of the hand and two near-infrared CCD devices to obtain
the transmission of IR image.
The couple of CCDs will get IR images of the hand which contain the disparity information. The principle of stereo
vision was used to recover the three dimensional structure. The algorithm processes includes camera calibration, image
preprocessing, epipolar rectification, stereo correspondence and three dimensional reconstructions. Experimental result
shows that it can acquire a good three dimensional structure. Since the new system can recover the depth of the vein, it
can be applied as the venipuncture auxiliary equipment to improve the success rate of venipuncture.
3D reconstruction, an important point in computer vision, has a promising application potential in endoscopic-assisted
minimally invasive surgery. In this paper, a 3D reconstruction method based on image sequences is proposed, in which
the improved SIFT feature is applied for point extraction and matching, as well as an optical tracker is used to get the
orientation of the camera in real time. The proposed approach is evaluated on sequence digital images gotten from an
1394 camera and the experimental results show that the proposed approach is effective.
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