UNCERTAINTY QUANTIFICATION TOWARDS FILTERING OPTIMIZATION IN SCENE MATCHING AIDED NAVIGATION SYSTEMS

2016 ◽  
Vol 6 (2) ◽  
pp. 127-140
Author(s):  
Shengdi Zhang ◽  
Xiaojun Duan ◽  
Lijun Peng
Keyword(s):  
Uncertainty Quantification ◽  
Navigation Systems ◽  
Scene Matching

scholarly journals Detection of Good Matching Areas Using Convolutional Neural Networks in Scene Matching-Based Navigation Systems

2021 ◽  
Author(s):  
Ayham Shahoud ◽  
Dmitriy Shashev ◽  
Stanislav Shidlovskiy
Keyword(s):  
Cross Correlation ◽  
Training Dataset ◽  
Reference Image ◽  
Navigation Systems ◽  
Simulation Environment ◽  
Robot Operating System ◽  
Scene Matching ◽  
Dynamic Simulator ◽  
Reference Map ◽  
Statistical Indicators

This paper presents a solution for false matching detection in scene matching-based aerial navigation systems. A navigation system that uses normalized cross-correlation to match a captured image with a reference image was designed. While traditional methods rely on statistical indicators to detect false matchings, this research relied on deep learning using Convolutional Neural Network (CNN). A CNN was trained to online predict the probability of a matching result to be true or false. The training dataset of images was constructed depending on the knowledge of where good matching areas are expected to be. The probability numbers were stored as an assistant map to be used again with the same reference map without classification. The system was implemented and tested in a 3D simulation environment using models for a drone, camera, and flight environment. The Robot Operating System (ROS) and the 3D dynamic simulator Gazebo were used for simulation. The results proved the efficiency of the proposed method in excluding the false matchings. Using the assistant map without classification resulted in an execution time of 41ms and RMS error of position less than 1.2m.

The application of the on-board devices radio direction-finding in the navigation systems of drones

2016 ◽  
Vol 0 (15) ◽  
pp. 48-53
Author(s):  
A. A. Shpilka ◽  
A. Y. Myronchuk ◽  
A. O. Tkach ◽  
S. P. Overchuk ◽  
V. O. Katiuha ◽  
...  
Keyword(s):  
Direction Finding ◽  
Navigation Systems

Ensuring precision approaches using the satellite navigation systems

2001 ◽  
Vol 7 (4) ◽  
pp. 25-30
Author(s):  
V.V. Zagoruiko ◽  
◽  
V.V. Konin ◽  
Keyword(s):  
Satellite Navigation ◽  
Navigation Systems ◽  
Satellite Navigation Systems

Utilisation of Robotic Navigation Systems in the Treatment of Atrial Fibrillation

2010 ◽  
Vol 6 (3) ◽  
pp. 60
Author(s):  
Richard Schilling ◽  
Keyword(s):  
Atrial Fibrillation ◽  
Catheter Ablation ◽  
Navigation System ◽  
Antiarrhythmic Drugs ◽  
Rhythm Control ◽  
Navigation Systems ◽  
Robotic Navigation ◽  
Increased Risk ◽  
Common Strategy ◽  
Catheter Navigation

Atrial fibrillation (AF) is linked to an increased risk of adverse cardiovascular events. While rhythm control with antiarrhythmic drugs (AADs) is a common strategy for managing patients with AF, catheter ablation may be a more efficacious and safer alternative to AADs for sinus rhythm control. Conventional catheter ablation has been associated with challenges during the arrhythmia mapping and ablation stages; however, the introduction of two remote catheter navigation systems (a robotic and a magnetic navigation system) may potentially overcome these challenges. Initial clinical experience with the robotic navigation system suggests that it offers similar procedural times, efficacy and safety to conventional manual ablation. Furthermore, it has been associated with reduced fluoroscopy exposure to the patient and the operator as well as a shorter fluoroscopy time compared with conventional catheter ablation. In the future, the remote navigation systems may become routinely used for complex catheter ablation procedures.

Image-Guided Spinal Surgery and Robotics in MIS: Where Are We Now?

2018 ◽  
Vol 1 (2) ◽  
pp. 2
Author(s):  
Chiung Chyi Shen
Keyword(s):  
Pedicle Screw ◽  
Spinal Surgery ◽  
Surgical Navigation ◽  
Improve Patient Safety ◽  
Intraoperative Imaging ◽  
Spinal Instrumentation ◽  
Pedicle Screws ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Image Guided

Use of pedicle screws is widespread in spinal surgery for degenerative, traumatic, and oncological diseases. The conventional technique is based on the recognition of anatomic landmarks, preparation and palpation of cortices of the pedicle under control of an intraoperative C-arm (iC-arm) fluoroscopy. With these conventional methods, the median pedicle screw accuracy ranges from 86.7% to 93.8%, even if perforation rates range from 21.1% to 39.8%.The development of novel intraoperative navigational techniques, commonly referred to as image-guided surgery (IGS), provide simultaneous and multiplanar views of spinal anatomy. IGS technology can increase the accuracy of spinal instrumentation procedures and improve patient safety. These systems, such as fluoroscopy-based image guidance ("virtual fluoroscopy") and computed tomography (CT)-based computer-guidance systems, have sensibly minimized risk of pedicle screw misplacement, with overall perforation rates ranging from between 14.3% and 9.3%, respectively."Virtual fluoroscopy" allows simultaneous two-dimensional (2D) guidance in multiple planes, but does not provide any axial images; quality of images is directly dependent on the resolution of the acquired fluoroscopic projections. Furthermore, computer-assisted surgical navigation systems decrease the reliance on intraoperative imaging, thus reducing the use of intraprocedure ionizing radiation. The major limitation of this technique is related to the variation of the position of the patient from the preoperative CT scan, usually obtained before surgery in a supine position, and the operative position (prone). The next technological evolution is the use of an intraoperative CT (iCT) scan, which would allow us to solve the position-dependent changes, granting a higher accuracy in the navigation system. 

New Types of Markers and the Integration of M-CubITS Pedestrian WYSIWYAS Navigation Systems for Advanced WYSIWYAS Navigation Environments

2016 ◽  
Vol E99.A (1) ◽  
pp. 282-296 ◽  
Author(s):  
Tetsuya MANABE ◽  
Takaaki HASEGAWA ◽  
Takashi SERIZAWA ◽  
Nobuhiro MACHIDA ◽  
Yuichi YOSHIDA ◽  
...  
Keyword(s):  
Navigation Systems
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