title: Real-time image mosaicing for medical applications.
abstract: In this paper we describe the development of a robotically-assisted image mosaicing system for medical applications. The processing occurs in real-time due to a fast initial image alignment provided by robotic position sensing. Near-field imaging, defined by relatively large camera motion, requires translations as well as pan and tilt orientations to be measured. To capture these measurements we use 5-d.o.f. sensing along with a hand-eye calibration to account for sensor offset. This sensor-based approach speeds up the mosaicing, eliminates cumulative errors, and readily handles arbitrary camera motions. Our results have produced visually satisfactory mosaics on a dental model but can be extended to other medical images.
authors: Department of Mechanical Engineering, Stanford University, CA, USA.
authors: Kevin E
authors: KE
authors: Loewke
authors: David B
authors: DB
authors: Camarillo
authors: Christopher A
authors: CA
authors: Jobst
authors: J Kenneth
authors: JK
authors: Salisbury
mesh_terms: D003198:Computer Simulation; D003813:Dentistry; D003952:Diagnostic Imaging; D007091:Image Processing, Computer-Assisted / Q000379:methods*; D012371:Robotics; D014481:United States