Automatic segmentation of the knee bones using 3D active shape models

This paper presents an automated segmentation approach for MR images of the knee bones. The bones are the first stage of a segmentation system for the knee, primarily aimed at the automated segmentation of the cartilages. The segmentation is performed using 3D active shape models (ASM), which are initialized using an affine registration to an atlas. The 3D ASMs of the bones are created automatically using a point distribution model optimization scheme. The accuracy and robustness of the segmentation approach was experimentally validated using an MR database of fat suppressed spoiled gradient recall images.

Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping

Probabilistic robotics most often applied to the problem of simultaneous localisation and mapping (SLAM), requires measures of uncertainty to accompany observations of the environment. This paper describes how uncertainty can be characterised for a vision system that locates coloured landmarks in a typical laboratory environment. The paper describes a model of the uncertainty in segmentation, the internal cameral model and the mounting of the camera on the robot. It explains the implementation of the system on a laboratory robot, and provides experimental results that show the coherence of the uncertainty model.