Related papers: An adaptive and fully automatic method for estimat…

Monocular 3D object detection has recently shown promising results, however there remain challenging problems. One of those is the lack of invariance to different camera intrinsic parameters, which can be observed across different 3D object…

Estimating the 3D pose of a hand is an essential part of human-computer interaction. Estimating 3D pose using depth or multi-view sensors has become easier with recent advances in computer vision, however, regressing pose from a single RGB…

PET imaging is an invaluable tool in clinical settings as it captures the functional activity of both healthy anatomy and cancerous lesions. Developing automatic lesion segmentation methods for PET images is crucial since manual lesion…

Visuotactile sensing technology has received much attention in recent years. This article proposes a feature detection method applicable to visuotactile sensors based on continuous marker patterns (CMP) to measure 3-d deformation. First, we…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Transformer-based methods have swept the benchmarks on 2D and 3D detection on images. Because tokenization before the attention mechanism drops the spatial information, positional encoding becomes critical for those methods. Recent works…

Estimating the 3D pose of a hand from a 2D image is a well-studied problem and a requirement for several real-life applications such as virtual reality, augmented reality, and hand gesture recognition. Currently, reasonable estimations can…

We present a method for the real-time estimation of the full 3D pose of one or more human hands using a single commodity RGB camera. Recent work in the area has displayed impressive progress using RGBD input. However, since the introduction…

Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection.…

We tackle the challenging task of estimating global 3D joint locations for both hands via only monocular RGB input images. We propose a novel multi-stage convolutional neural network based pipeline that accurately segments and locates the…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…

3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…

In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…

This paper addresses the problem of 3D hand pose estimation from a monocular RGB image. While previous methods have shown great success, the structure of hands has not been fully exploited, which is critical in pose estimation. To this end,…

Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…

Automated patient positioning can improve radiology workflow efficiency by reducing the time required for manual table adjustments and scout-based scan planning. We propose a learning-based framework that predicts 3D organ locations and…