Related papers: Gaussian Processes for real-time 3D motion and unc…
Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncertainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and…
Image quality of PET reconstructions is degraded by subject motion occurring during the acquisition. MR-based motion correction approaches have been studied for PET/MR scanners and have been successful at capturing regular motion patterns,…
Demystifying complex human-ground interactions is essential for accurate and realistic 3D human motion reconstruction from RGB videos, as it ensures consistency between the humans and the ground plane. Prior methods have modeled…
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions unseen from the training views yield unreliable predictions…
Motion has been a challenge for magnetic resonance (MR) imaging ever since the MR has been invented. Especially in volumetric imaging of thoracic and abdominal organs, motion-awareness is essential for reducing motion artifacts in the final…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Due to the inter- and intra- variation of respiratory motion, it is highly desired to provide real-time volumetric images during the treatment delivery of lung stereotactic body radiation therapy (SBRT) for accurate and active motion…
Accurate scene perception is critical for vision-based robotic manipulation. Existing approaches typically follow either a Vision-to-Action (V-A) paradigm, predicting actions directly from visual inputs, or a Vision-to-3D-to-Action (V-3D-A)…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…
Computing the relative motion of objects is an important navigation task that we routinely perform by relying on inherently unreliable biological cells in the retina. The non-linear and adaptive response of memristive devices make them…
Magnetic Resonance Imaging (MRI) is a powerful medical imaging modality, but unfortunately suffers from long scan times which, aside from increasing operational costs, can lead to image artifacts due to patient motion. Motion during the…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
In this paper we present a new method for motion tracking of tumors in liver ultrasound image sequences. Our algorithm has two main steps. In the first step, we apply mean shift algorithm with multiple features to estimate the center of the…
For the one billion sufferers of respiratory disease, managing their disease with inhalers crucially influences their quality of life. Generic treatment plans could be improved with the aid of computational models that account for…
In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D…
Recently we have developed an algorithm for reconstructing volumetric images and extracting 3D tumor motion information from a single x-ray projection. We have demonstrated its feasibility using a digital respiratory phantom with regular…
Pulmonary respiratory motion artifacts are common in four-dimensional computed tomography (4DCT) of lungs and are caused by missing, duplicated, and misaligned image data. This paper presents a geodesic density regression (GDR) algorithm to…
This paper proposes a novel framework for implicit multi-camera system calibration utilizing Gaussian Process (GP) regression. Conventional explicit calibration methods are constrained by rigid mathematical models and struggle with complex,…
Purpose: Cone-beam CT (CBCT) projection images provide anatomical data in real-time over several respiratory cycles, forming a comprehensive picture of tumor movement. We developed and validated a method which uses these projections to…