International journal of intelligent robotics and applications, 2017
Since the development of capsule endoscopy technology, medical device companies and research grou... more Since the development of capsule endoscopy technology, medical device companies and research groups have made significant progress to turn passive capsule endoscopes into robotic active capsule endoscopes. However, the use of robotic capsules in endoscopy still has some challenges. One such challenge is the precise localization of the actively controlled robot in real-time. In this paper, we propose a non-rigid map fusion based direct simultaneous localization and mapping method for endoscopic capsule robots. The proposed method achieves high accuracy for extensive evaluations of pose estimation and map reconstruction performed on a non-rigid, realistic surgical EsophagoGastroDuodenoscopy Simulator and outperforms state-of-the art methods.
International journal of intelligent robotics and applications, 2017
A reliable, real time localization functionality is crutial for actively controlled capsule endos... more A reliable, real time localization functionality is crutial for actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal (GI) tract. In this study, we extend the success of deep learning approaches from various research fields to the problem of sensor fusion for endoscopic capsule robots. We propose a multi-sensor fusion based localization approach which combines endoscopic camera information and magnetic sensor based localization information. The results performed on real pig stomach dataset show that our method achieves sub-millimeter precision for both translational and rotational movements.
Aborda-se um dos temas da IA, o da codificação da informação em imagens, vulgo visão computaciona... more Aborda-se um dos temas da IA, o da codificação da informação em imagens, vulgo visão computacional, discutindo o seu âmbito e objectivo. E, situa-se o tema nas aplicações da robótica industrial.
A special architecture for texture analysis and recognition that is inherently parallel and aimed... more A special architecture for texture analysis and recognition that is inherently parallel and aimed at hardware implementation is described. It has the advantage of making possible real-time recognition (at frame rates). The architecture is based on the concept of associative memory, which has learning and recognizing capabilities. This architecture achieved high rates of recognition. With image processing, over 90% correct
Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a given ... more Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a given environment. Different tasks may need different sensors to estimate different subsets of world state. Also, different sensors can cooperate in discovering common subsets of world state. This paper presents a new approach to multimodal sensor fusion using dynamic Bayesian networks and an occupancy grid. The environment in which the robot operates is represented with an occupancy grid. This occupancy grid is asynchronously updated using ...
International journal of intelligent robotics and applications, 2017
Since the development of capsule endoscopy technology, medical device companies and research grou... more Since the development of capsule endoscopy technology, medical device companies and research groups have made significant progress to turn passive capsule endoscopes into robotic active capsule endoscopes. However, the use of robotic capsules in endoscopy still has some challenges. One such challenge is the precise localization of the actively controlled robot in real-time. In this paper, we propose a non-rigid map fusion based direct simultaneous localization and mapping method for endoscopic capsule robots. The proposed method achieves high accuracy for extensive evaluations of pose estimation and map reconstruction performed on a non-rigid, realistic surgical EsophagoGastroDuodenoscopy Simulator and outperforms state-of-the art methods.
International journal of intelligent robotics and applications, 2017
A reliable, real time localization functionality is crutial for actively controlled capsule endos... more A reliable, real time localization functionality is crutial for actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal (GI) tract. In this study, we extend the success of deep learning approaches from various research fields to the problem of sensor fusion for endoscopic capsule robots. We propose a multi-sensor fusion based localization approach which combines endoscopic camera information and magnetic sensor based localization information. The results performed on real pig stomach dataset show that our method achieves sub-millimeter precision for both translational and rotational movements.
Aborda-se um dos temas da IA, o da codificação da informação em imagens, vulgo visão computaciona... more Aborda-se um dos temas da IA, o da codificação da informação em imagens, vulgo visão computacional, discutindo o seu âmbito e objectivo. E, situa-se o tema nas aplicações da robótica industrial.
A special architecture for texture analysis and recognition that is inherently parallel and aimed... more A special architecture for texture analysis and recognition that is inherently parallel and aimed at hardware implementation is described. It has the advantage of making possible real-time recognition (at frame rates). The architecture is based on the concept of associative memory, which has learning and recognizing capabilities. This architecture achieved high rates of recognition. With image processing, over 90% correct
Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a given ... more Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a given environment. Different tasks may need different sensors to estimate different subsets of world state. Also, different sensors can cooperate in discovering common subsets of world state. This paper presents a new approach to multimodal sensor fusion using dynamic Bayesian networks and an occupancy grid. The environment in which the robot operates is represented with an occupancy grid. This occupancy grid is asynchronously updated using ...
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Papers by Helder Araujo