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The paper presents a new vectorquantization based Approach for selecting well-suited data for hand-eye calibration from a given sequence of hand and eye movements.
Data selection is essential if control of the movements used for calibration is not possible, especially when using continuously recorded data. The new algorithm is compared to another method for data selection as well as to the processing of subsequent movements.
Experimental results on real and synthetic data sets show the superior performance of the new approach with respect to calibration errors and computation time.
Real data has been obtained from an optical tracking system and a camera mounted on an endoscope, the goal being the reconstruction of medical lightfields.
Wepresentaniterativeregistrationalgorithmfor aligning two differently scaled 3-D point sets. It extends the popular Iterative Closest Point (ICP) algorithm by estimating a scale factor between the two point sets in every iteration.
The presented algorithm is especially useful for the registration of point sets generated by structure-frommotion algorithms, which only reconstruct the 3-D structure of a scene upto scale. LiketheoriginalICPalgorithm,thepresentedalgorithm requires a rough pre-alignment of the point sets.
In order to determine the necessary accuracy of the pre-alignment, wehaveexperimentallyevaluatedthebasinofconvergence of the algorithm with respect to the initial rotation, translation, andscale factor between the two point sets.
Abstraction is the most basic principle of software engineering. Abstractions are provided by models. Modeling and model transformation constitute the core of model-driven development. Models can be refined and finally be transformed into a technical implementation, i.e., a software system.
The aim of this book is to give an overview of the state of the art in model-driven software development. Achievements are considered from a conceptual point of view in the first part, while the second part describes technical advances and infrastructures. Finally, the third part summarizes experiences gained in actual projects employing model-driven development.
Beydeda, Book and Gruhn put together the results from leading researchers in this area, both from industry and academia. The result is a collection of papers which gives both researchers and graduate students a comprehensive overview of current research issues and industrial forefront practice, as promoted by OMG’s MDA initiative.
The paper presents an extended hand-eye calibration approach that, in contrast to the standard method, does not require a calibration pattern for determining camera position and orientation. Instead, a structure-from-motion algorithm is applied for obtaining the eye-data that is necessary for computing the unknown hand-eye transformation.
Different ways of extending the standard algorithm are presented, which mainly involves the estimation of a scale factor in addition to rotation and translation. The proposed methods are experimentally compared using data obtained from an optical tracking system that determines the pose of an endoscopic camera.
The approach is of special interest in our clinical setup, as the usage of an unsterile calibration pattern is difficult in a sterile environment.
Nowadays, in software development usually various models and description fragments are created. Some of these artifacts describe the core of the application, such as the data model or the user interaction model. Other artifacts describe cross-cutting concerns, such as security or the requirement: “every change of data has to be confirmed by the user, before it is written into the database”. During the development process these artifacts are combined, transformed, and finally implemented manually or even automatically. For instance a designer may combine a model of a dialog component specifying an action, that changes data, with a common description of a generic confirm dialog. The integrated dialog description may be afterwards implemented by a programmer. The manual combination of both artifacts and the transformation of the combined description into code are errorprone and hard to change. Industry basically tests or actually uses two approaches for the combination today: 1. At the level of code and execution Aspect-Oriented Programming (AOP) is used [KLM+97]. An aspect defines a cross-cutting concern and the weaving instructions. A code weaver provides the actual weaving at compile or runtime. 2. At the level of design models and analysis models Model-Driven Software Development (MDSD) is used [KWB03]. A model in MDSD is a first class development artifact. Thus models are significantly more abstract than the implementation of code. However, these models cannot be executed. Hence, a abstract model is transformed into another, typically more detailed. A series of such transformations results in executable code. Thereby, a model transformer or a code generator reads some of the artifacts. The other artifacts and the combination rules are implemented in transformation rules or code generation templates (or somewhere else in the transformation / generation approach).
Deploy and manage SQL Server 2005 with easeLearn to use all the powerful features available in SQL Server 2005 from this straightforward, hands-on guide.
Set up SQL Server 2005, automate system administration tasks, execute simple and complex database queries, and use the robust analysis, business intelligence, and reporting tools. Troubleshooting, data partitioning, replication, and query optimization are also covered.
With SQL Server 2005: A Beginner's Guide, you'll be able to set up a secure, reliable, and productive data management platform in no time.
Essential Skills for Database Professionals
- Install and customize SQL Server 2005
- Create, alter, and remove database objects with Transact-SQL statements
- Use SQL Server as a native XML database system - Tune your database system for optimal performance
- Use the new SQL Server Management Studio tool for executing and analyzing ad hoc queries
- Retrieve data from more than one source using join operations and SELECT statements
- Secure your database using two different authentication modes--Windows and mixed
- Restore databases using transaction logs and backup and recovery methods
- Streamline system administration tasks using the SQL Server Agent service tool
- Analyze and manage information stored in a data warehouse with Microsoft Analysis Services