Robust feature tracking on the beating heart for a robotic‐guided endoscope

Visualization during minimally invasive bypass surgery on the beating heart can be enhanced by using a robotic‐guided endoscope and visual servoing from the endoscopic images. In order to achieve these objectives, this work has focused on developing and testing algorithms for accurate, robust and real‐time motion tracking of features on the beating heart, using marker‐less approaches and an uncalibrated endoscope.

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