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A robotic arm automatically guidedto handle the camera in laparoscopic surgery is presented. The goal of this work is to generate the adequate camera control strategies to track the working scene during a surgical procedure. The system is based on the computer vision analysis of the laparoscopic image that allows to identi& either a scene's relevant point,(More)
Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature(More)
In this work we introduce a new silhouette normalization method, which is robust with respect to deformations and enables the use of image domain based similarity measures for recognition applications. It is shown that a template matching operation can provide an accurate shortlist of candidates suitable for a more exact matching engine in spite of(More)
This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves the efficiency of an interface, thereby reducing the user's workload. The study uses several human-motor models to interpret human intention(More)
I n this article, we present a new reconfigurable parallel architecture oriented to video-rate computer vision applications. This architecture is structured with a two-dimensional (2D) array of FPGA/DSP-based reprogrammable processors Pij. These processors are interconnected by means of a systolic 2D array of FPGA-based video-addressing units which allow(More)
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore unknown structured orthogonal environments. In order to improve the covering of the explored zone the robots show different behaviours (routine, normal and anxious) and cooperate by transferring each other the perceived environment when they(More)
Breathing monitoring systems are demonstrating to have an increasing interest since they can aid to diagnose the patient breathing deficiencies as well as other pathologies and thus to decide the adequate therapy. This paper describes one such system based on vision, that measures the evolution of the breathing through the analysis of the patient's(More)
This paper presents the Distributed Environment for Virtual and/or Real Experiments for Underwater Robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: (1) the onboard AUV computer, (2) a Surface computer used as human machine interface (HMI) and (3) a computer used for simulating the(More)
As man-machine interaction grows there is an increasing need for friendly interfaces. Human-machine oral communication as a means of natural language interaction is becoming quite common. Interpretation of human gestures can, in some applications, complement such communication. This article describes an interpretation of gestures procedure. The system is(More)