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Cane-type robots have been utilized to assist and supervise the mobility-impaired population. One essential technique for cane-type robots is human following control, which allows the robot to follow the user. However, the limited…

Camera pose estimation from sparse correspondences is a fundamental problem in geometric computer vision and remains particularly challenging in near-field scenarios, where strong perspective effects and heterogeneous measurement noise can…

A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal…

Solutions to the governing partial differential equations obtained from a discrete numerical scheme can have significant errors, especially near shocks when the discrete representation of the solution cannot fully capture the discontinuity…

Relative location prediction in computed tomography (CT) scan images is a challenging problem. In this paper, a regression model based on one-dimensional convolutional neural networks is proposed to determine the relative location of a CT…

We introduce ColonSLAM, a system that combines classical multiple-map metric SLAM with deep features and topological priors to create topological maps of the whole colon. The SLAM pipeline by itself is able to create disconnected individual…

A reliable, real-time simultaneous localization and mapping (SLAM) method is crucial for the navigation of actively controlled capsule endoscopy robots. These robots are an emerging, minimally invasive diagnostic and therapeutic technology…

This paper presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain. In traditional tracking error-based control approaches, feedback and feedforward controllers are designed…

PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…

In the last decade C-arm-based cone-beam CT became a widely used modality for intraoperative imaging. Typically a C-arm scan is performed using a circle-like trajectory around a region of interest. Therefor an angular range of at least…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

OBJECTIVE: This study evaluated the accuracy in localisation and distribution of real-time three-dimensional (4-D) ultrasound-guided biopsies on a prostate phantom. METHODS: A prostate phantom was created. A three-dimensional real-time…

The state of the art in electromagnetic Finite Element Particle-in-Cell (EM-FEMPIC) has advanced significantly in the last few years. These have included understanding function spaces that must be used to represent sources and fields…

Extreme wavefront correction is required for coronagraphs on future space telescopes to reach 1e-8 or better starlight suppression for the direct imaging and characterization of exoplanets in reflected light. Thus, a suite of wavefront…

In this work, we describe a method for large-scale 3D cell-tracking through a segmentation selection approach. The proposed method is effective at tracking cells across large microscopy datasets on two fronts: (i) It can solve problems…

In multi-sensor data fusion (or sensor fusion), sensor biases (or offsets) often affect the accuracy of the correlation and integration results of the tracking targets. Therefore, to estimate and compensate the bias, several methods are…

Immersive Colonography allows medical professionals to navigate inside the intricate tubular geometries of subject-specific 3D colon images using Virtual Reality displays. Typically, camera travel is performed via Fly-Through or Fly-Over…

In this paper we apply an extended Kalman filter to track both the location and the orientation of a mobile target from multistatic response measurements. We also analyze the effect of the limited-view aspect on the stability and the…

Cephalometric analysis is an important tool for orthodontic diagnosis. At present, most cephalometric analysis is performed with the help of image processing techniques. Hence, the resolution between millimeter and pixel is needed with high…

We investigate the feasibility of implementing a system that will coordinate ground-based optical telescopes to cover the Fermi GBM Error Circle (EC). The aim of the system is to localize GBM detected GRBs and facilitate multi-wavelength…