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Visual Servoing-based Registration of Multimodal Images

Mohamed Ourak 1 Brahim Tamadazte 1 Nicolas Andreff 1 Eric Marchand 2 
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper deals with mutual information-based numerical and physical registration of white light images vs. fluorescence images for microrobotic laser microphonosurgery of the vocal folds. More precisely, it presents two techniques: a numerical registration of multimodal images and a vision feedback control for positioning an endoscope with regards to a preoperative image (fluorescence image). Nelder-Mead Simplex for nonlinear optimization is used to minimize the cost-function. The proposed methods are successfully validated in an experimental setup using preoperative fluorescence images and real-time white light images of the vocal folds.
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Mohamed Ourak, Brahim Tamadazte, Nicolas Andreff, Eric Marchand. Visual Servoing-based Registration of Multimodal Images. International Conference on Informatics in Control, Automation and Robotics, Jul 2015, Colmar, France. ⟨hal-01159881⟩

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