We developed a system that allows for the real-time data processing and command of a low-cost multi-robot setup that maps out an unknown environment. The objective is to localize the robot relative to its surroundings. To do so, we explore various robotic and computer vision techniques such as SLAM, network computing, map merging, and dense 3D reconstruction.

The use of iterative algorithms in tomographic reconstruction always leads to a frequency adapted rate of convergence in that low frequencies are accurately reconstructed after a few iterations, while high frequencies sometimes require many more computations. In this paper, we propose to build frequency adapted (FA) algorithms based on a condition of incomplete backprojection and propose an FA ...

Based on the recent mathematical findings on solving the linear inverse problems with sparsity constraints by Daubechiesx et al., here we adapt a simultaneous algebraic reconstruction technique (SART) for image reconstruction from a limited number of projections subject to a sparsity constraint in terms of an invertible compression transform. The algorithm is implemented with an exemplary Haar ...

INTRODUCTION Squamous cell carcinoma is one of the most common malignant tumors of the skin and oral mucosa. However, squamous cell carcinoma involving near total upper and lower lip and oral commissure is rarely seen in the English literature. Simultaneous reconstruction of the upper and lower lips has been inconclusive and presents a challenge to the surgeon. We report such a case and outline...

Resection and simultaneous reconstruction with free flaps of wide tumours of the scalp and posterior neck region are difficult to perform through a single surgical approach. In such cases, the park-bench position - a lateral oblique position - could allow simultaneous resection and reconstruction of tumours of the scalp and occipital region without changing the patient's position. In the case d...

The inferior gluteal artery perforator (IGAP) free flap represents an alternative technique for autogenous breast reconstruction in patients with insufficient abdominal donor tissue. Historically, patients underwent a staged approach for bilateral breast reconstruction with the IGAP because it is technically demanding and can be time consuming. The bilateral simultaneous IGAP can be performed e...

Algebraic reconstruction techniques (ARTs), on both their successive and simultaneous formulations, have been developed since the early 1970s as efficient ‘row-action methods’for solving the image-reconstruction problem in computerized tomography. In this respect, two important development directions were concerned with, first, their extension to the inconsistent case of the reconstruction prob...

INTRODUCTION We present the case of a patient undergoing simultaneous reconstruction of a massive soft tissue deficit of the right knee along with total knee arthroplasty and allograft reconstruction of the extensor mechanism after multiple failed attempts to repair and revise the affected joint. METHODS A latissimus dorsi myocutaneous flap was transferred to fill the soft-tissue deficit of t...

A mathematical framework for quantitative SPECT (single photon emission computed tomography) reconstruction of the heart is presented. An efficient simultaneous compensation approach to the reconstruction task is described. The implementation of the approach on a digital computer is delineated. The approach was validated by experimental data acquired from chest phantoms. The phantoms consisted ...

images of the two simultaneously excited slices. Displayed are (a) the conventional reconstruction of the CAIPIRINHA acquisition using GRAPPA and (b) the reconstruction of the incoherently undersampled CAIPIRINHA acquisition using the proposed combination of Compressed Sensing and GRAPPA. (c) Difference between a) and b) magnified by a factor of 10. Accelerated Simultaneous Multi-slice Cardiac ...