Depth-Camera-Aided Inertial Navigation Utilizing Directional Constraints.

This paper presents a practical yet effective solution for integrating an RGB-D camera and an inertial sensor to handle the depth dropouts that frequently happen in outdoor environments, due to the short detection range and sunlight interference. In depth drop conditions, only the partial 5-degrees-of-freedom pose information (attitude and position with an unknown scale) is available from the RGB-D sensor. To enable continuous fusion with the inertial solutions, the scale ambiguous position is cast into a of the vehicle motion, which is, in essence, an epipolar constraint in multi-view geometry.

New catheter design for cannulation of the anomalous right coronary artery arising from the left sinus of valsalva.

Cannulation of an anomalous right coronary artery during coronary angiography and percutaneous intervention poses significant technical difficulties using currently available catheter shapes. We describe a new catheter design and the cannulation technique for application of this catheter. The initial experience with this catheter in cases is reported.