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Today in robotics, computer vision in a broad sense can be regarded as the key technology for realizing systems with an enhanced level of autonomy. In this domain, we tackle problems from a wide methodological range, from image-based tracking to scene understanding and world modeling. With such a broad scope, we can address application demands as diverse as rapid visual servoing and flexible adaptive behavior for a robot system, or generation of photo-realistic representations in a virtual-reality context. |
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When a rigid object moves in 3D space relative to a camera, it is often interesting to know how its relative pose changes in its full 6 degrees of freedom (DoF). The problem of 6-DoF tracking arises in the context of numerous applications within and beyond robotics. |
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One key aspect necessary for a successful minimally invasive intervention is preoperative planning, done by the surgeon in order to prepare the intervention and to decide about the best access to the surgical site. In case of robotically assisted interventions the results of these decisions must be transferred also to the robotic equipment. |
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