Related papers: Real-time 3D Tracking of Articulated Tools for Rob…
Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and…
Minimally invasive surgery presents challenges such as dynamic tissue motion and a limited field of view. Accurate tissue tracking has the potential to support surgical guidance, improve safety by helping avoid damage to sensitive…
Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…
3D hand pose tracking/estimation will be very important in the next generation of human-computer interaction. Most of the currently available algorithms rely on low-cost active depth sensors. However, these sensors can be easily interfered…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…
With the increasing popularity of human-computer interaction applications, there is also growing interest in generating sufficiently large and diverse data sets for automatic radar-based recognition of hand poses and gestures. Radar…
When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial objects or sensors to the body, limiting their usability and comfort-of-use and…
Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…
Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Total knee arthroplasty (TKA) is a commonly performed surgical procedure to mitigate knee pain and improve functions for people with knee arthritis. The procedure is complicated due to the different surgical tools used in the stages of…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…