- 标题
- 摘要
- 关键词
- 实验方案
- 产品
-
Conformal image-guided microbeam radiation therapy at the ESRF biomedical beamline ID17
摘要： Purpose: Upcoming veterinary trials in microbeam radiation therapy (MRT) demand for more advanced irradiation techniques than in preclinical research with small animals. The treatment of deep-seated tumors in cats and dogs with MRT requires sophisticated irradiation geometries from multiple ports, which impose further efforts to spare the normal tissue surrounding the target. Methods: This work presents the development and benchmarking of a precise patient alignment protocol for MRT at the biomedical beamline ID17 of the European Synchrotron Radiation Facility (ESRF). The positioning of the patient prior to irradiation is verified by taking x-ray projection images from different angles. Results: Using four external fiducial markers of 1.7 mm diameter and computed tomography-based treatment planning, a target alignment error of less than 2 mm can be achieved with an angular deviation of less than 2?. Minor improvements on the protocol and the use of smaller markers indicate that even a precision better than 1 mm is technically feasible. Detailed investigations concerning the imaging dose lead to the conclusion that doses for skull radiographs lie in the same range as dose reference levels for human head radiographs. A currently used online dose monitor for MRT has been proven to give reliable results for the imaging beam. Conclusions: The ESRF biomedical beamline ID17 is technically ready to apply conformal image-guided MRT from multiple ports to large animals during future veterinary trials.
关键词： microbeam radiation therapy,image-guidance,x-ray imaging,fiducial markers,synchrotron radiation
更新于2025-09-23 15:22:29
-
[IEEE 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) - Zaragoza, Spain (2019.9.10-2019.9.13)] 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) - Towards robust 6-DoF detection in uncontrolled lightning enviroments
摘要： One of the most critical issues that arises when controlling a robot is the necessity to locate itself in the environment. Ranging from industrial processes applications to outdoor mobile robots, landmarks are used to such purpose: by recognizing them, the robots are able to know where they are with the aid of computer vision. Fiducial markers are the cheapest and one of the most common solutions to this issue: 2D planar patterns that embed some information that can be identified using artificial vision techniques. Many different typologies of markers as well as image processing algorithms are being implemented nowadays, using C++ / Python / MATLAB? libraries and ROS as middleware. In this work we have evaluated the robustness of various fiducial marker typologies, documenting the main technical aspects of the used implementations and commenting how each algorithm operates. Aggregated results are presented and discussed, evaluating the different implementations tested.
关键词： fiducial markers,performance evaluation,ROS,pose estimation
更新于2025-09-11 14:15:04
-
[IEEE 2018 IEEE Intelligent Vehicles Symposium (IV) - Changshu (2018.6.26-2018.6.30)] 2018 IEEE Intelligent Vehicles Symposium (IV) - Vision-based Semantic Mapping and Localization for Autonomous Indoor Parking
摘要： In this paper, we proposed a novel and practical solution for the real-time indoor localization of autonomous driving in parking lots. High-level landmarks, the parking slots, are extracted and enriched with labels to avoid the aliasing of low-level visual features. We then proposed a robust method for detecting incorrect data associations between parking slots and further extended the optimization framework by dynamically eliminating suboptimal data associations. Visual fiducial markers are introduced to improve the overall precision. As a result, a semantic map of the parking lot can be established fully automatically and robustly. We experimented the performance of real-time localization based on the map using our autonomous driving platform TiEV, and the average accuracy of 0.3m track tracing can be achieved at a speed of 10kph.
关键词： parking slots,autonomous driving,indoor localization,visual fiducial markers,semantic mapping
更新于2025-09-10 09:29:36