Related papers: An adaptive and fully automatic method for estimat…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Beam alignment enables efficient, stable transmission and control of optical energy and information, which critically depend on precise monitoring and regulation of the three-dimensional (3D) relative positioning between fibers. This study…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
3D human pose estimation is a key enabling technology for applications such as healthcare monitoring, human-robot collaboration, and immersive gaming, but real-world deployment remains challenged by viewpoint variations. Existing methods…
We present a simple and effective method for 3D hand pose estimation from a single depth frame. As opposed to previous state-of-the-art methods based on holistic 3D regression, our method works on dense pixel-wise estimation. This is…
The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…
Accurate and consistent mental interpretation of fluoroscopy to determine the position and orientation of acetabular bone fragments in 3D space is difficult. We propose a computer assisted approach that uses a single fluoroscopic view and…
Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…
Human pose estimation is a very active research field, stimulated by its important applications in robotics, entertainment or health and sports sciences, among others. Advances in convolutional networks triggered noticeable improvements in…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
3D pose estimation offers the opportunity for fast, non-invasive, and accurate motion analysis. This is of special interest also for clinical use. Currently, motion capture systems are used, as they offer robust and precise data…
The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Since the development of capsule endoscopcy technology, substantial progress were made in converting passive capsule endoscopes to robotic active capsule endoscopes which can be controlled by the doctor. However, robotic capsule endoscopy…
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple…
In this paper we present a novel method to estimate 3D human pose and shape from monocular videos. This task requires directly recovering pixel-alignment 3D human pose and body shape from monocular images or videos, which is challenging due…