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Visual-inertial odometry (VIO) has demonstrated remarkable success due to its low-cost and complementary sensors. However, existing VIO methods lack the generalization ability to adjust to different environments and sensor attributes. In…
Capsule endoscopy is a method to capture images of the gastrointestinal tract and screen for diseases which might remain hidden if investigated with standard endoscopes. Due to the limited size of a video capsule, embedding AI models…
This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…
Learning-based, single-view depth estimation often generalizes poorly to unseen datasets. While learning-based, two-frame depth estimation solves this problem to some extent by learning to match features across frames, it performs poorly at…
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…
The reliable segmentation of retinal vasculature can provide the means to diagnose and monitor the progression of a variety of diseases affecting the blood vessel network, including diabetes and hypertension. We leverage the power of…
Convolutional neural networks (CNNs) are used in many areas of computer vision, such as object tracking and recognition, security, military, and biomedical image analysis. This review presents the application of convolutional neural…
This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…
In the field of dentistry, there is a growing demand for increased precision in diagnostic tools, with a specific focus on advanced imaging techniques such as computed tomography, cone beam computed tomography, magnetic resonance imaging,…
Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…
Medical image segmentation is a pivotal task within the realms of medical image analysis and computer vision. While current methods have shown promise in accurately segmenting major regions of interest, the precise segmentation of boundary…
Gastrointestinal (GI) diseases represent a significant global health concern, with Capsule Endoscopy (CE) offering a non-invasive method for diagnosis by capturing a large number of GI tract images. However, the sheer volume of video frames…
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over…
Pulmonary optical endomicroscopy (POE) is an imaging technology in real time. It allows to examine pulmonary alveoli at a microscopic level. Acquired in clinical settings, a POE image sequence can have as much as 25% of the sequence being…
Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…
Very deep convolutional neural networks (CNNs) have been firmly established as the primary methods for many computer vision tasks. However, most state-of-the-art CNNs are large, which results in high inference latency. Recently, depth-wise…
Computed Tomography Angiography is a key modality providing insights into the cerebrovascular vessel tree that are crucial for the diagnosis and treatment of ischemic strokes, in particular in cases of large vessel occlusions (LVO). Thus,…
Semantic image segmentation is one of the most important tasks in medical image analysis. Most state-of-the-art deep learning methods require a large number of accurately annotated examples for model training. However, accurate annotation…
Retinal vessel segmentation is a crucial step in diagnosing and screening various diseases, including diabetes, ophthalmologic diseases, and cardiovascular diseases. In this paper, we propose an effective and efficient method for vessel…
Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force…