Towards localizing on the surface of the beating heart
Conference Paper, Proceedings of 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '12), pp. 1413 - 1416, August, 2012
Abstract
This paper presents preliminary work toward localizing on a surface which undergoes periodic deformation, as an aspect of research on HeartLander, a miniature epicardial crawling robot. Using only position measurements from the robot, the aim of this work is to use the nonuniform movements of the heart as features to aid in localization. Using a particle filter, with motion and observation models which accurately model the robotic system, registration and localization parameters can be quickly and accurately identified. The presented framework is demonstrated in simulation on dynamic 2-D models which approximate the deformation of the surface of the heart.
BibTeX
@conference{Wood-2012-120611,author = {N. A. Wood and K. Waugh and T. Y. Liu and M. A. Zenati and C. N. Riviere},
title = {Towards localizing on the surface of the beating heart},
booktitle = {Proceedings of 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '12)},
year = {2012},
month = {August},
pages = {1413 - 1416},
}
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