Related papers: A Deep Learning Based 6 Degree-of-Freedom Localiza…
Colorectal cancer is the fourth leading cause of cancer deaths worldwide and the second leading cause in the United States. The risk of colorectal cancer can be mitigated by the identification and removal of premalignant lesions through…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…
In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
Accurate localization in indoor environments is a challenge due to the Non Line of Sight (NLoS) nature of the signaling. In this paper, we explore the use of AI/ML techniques for positioning accuracy enhancement in Indoor Factory (InF)…
Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown system disturbance caused by unmodeled dynamics (such as internal…
Accurately tracking particles and determining their coordinate along the optical axis is a major challenge in optical microscopy, especially when extremely high precision is needed. In this study, we introduce a deep learning approach using…
Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object…
Early diagnosis is essential for the successful treatment of bowel cancers including colorectal cancer (CRC) and capsule endoscopic imaging with robotic actuation can be a valuable diagnostic tool when combined with automated image…
With the advancement of remote-sensed imaging large volumes of very high resolution land cover images can now be obtained. Automation of object recognition in these 2D images, however, is still a key issue. High intra-class variance and low…
Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule…
Navigating a flexible robotic endoscope (FRE) through the gastrointestinal tract is critical for surgical diagnosis and treatment. However, navigation in the dynamic stomach is particularly challenging because the FRE must learn to…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Accurate and automatic organ segmentation from 3D radiological scans is an important yet challenging problem for medical image analysis. Specifically, the pancreas demonstrates very high inter-patient anatomical variability in both its…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…
Endoscopy plays a major role in identifying any underlying abnormalities within the gastrointestinal (GI) tract. There are multiple GI tract diseases that are life-threatening, such as precancerous lesions and other intestinal cancers. In…
Deep learning in gastrointestinal endoscopy can assist to improve clinical performance and be helpful to assess lesions more accurately. To this extent, semantic segmentation methods that can perform automated real-time delineation of a…
Holography encodes the three dimensional (3D) information of a sample in the form of an intensity-only recording. However, to decode the original sample image from its hologram(s), auto-focusing and phase-recovery are needed, which are in…