Related papers: Improving rigid 3D calibration for robotic surgery
The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…
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…
Camera calibration is the foundation of 3D vision. Generic camera calibration can yield more accurate results than parametric cam era calibration. However, calibrating a generic camera model using printed calibration boards requires far…
In the field of medical image analysis, achieving high accuracy is not enough; ensuring well-calibrated predictions is also crucial. Confidence scores of a deep neural network play a pivotal role in explainability by providing insights into…
Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…
Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
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…
For autonomous vehicles, an accurate calibration for LiDAR and camera is a prerequisite for multi-sensor perception systems. However, existing calibration techniques require either a complicated setting with various calibration targets, or…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Robust and accurate camera calibration is essential for 3D reconstruction in light microscopy under circular motion. Conventional methods require either accurate key point matching or precise segmentation of the axial-view images. Both…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots…
Autonomous robotic surgery requires deliberation, i.e. the ability to plan and execute a task adapting to uncertain and dynamic environments. Uncertainty in the surgical domain is mainly related to the partial pre-operative knowledge about…
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in…
Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light…