Related papers: BronchoPose: an analysis of data and model configu…
Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the…
Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with…
Video bronchoscopy is routinely conducted for biopsies of lung tissue suspected for cancer, monitoring of COPD patients and clarification of acute respiratory problems at intensive care units. The navigation within complex bronchial trees…
Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…
Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…
The crux of Referring Video Object Segmentation (RVOS) lies in modeling dense text-video relations to associate abstract linguistic concepts with dynamic visual contents at pixel-level. Current RVOS methods typically use vision and language…
Human motion is fundamental to understanding behavior. Despite progress on single-image 3D pose and shape estimation, existing video-based state-of-the-art methods fail to produce accurate and natural motion sequences due to a lack of…
The focus of this contribution is on camera simulation as it comes into play in simulating autonomous robots for their virtual prototyping. We propose a camera model validation methodology based on the performance of a perception algorithm…
We tackle a new problem of multi-view camera and subject registration in the bird's eye view (BEV) without pre-given camera calibration. This is a very challenging problem since its only input is several RGB images from different…
The objective of this work is human pose estimation in videos, where multiple frames are available. We investigate a ConvNet architecture that is able to benefit from temporal context by combining information across the multiple frames…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
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…
Ultrasound is progressing toward becoming an affordable and versatile solution to medical imaging. With the advent of COVID-19 global pandemic, there is a need to fully automate ultrasound imaging as it requires trained operators in close…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
The correlation of optical measurements with a correct pathology label is often hampered by imprecise registration caused by deformations in histology images. This study explores an automated multi-modal image registration technique…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Intraoperative shape reconstruction of organs from endoscopic camera images is a complex yet indispensable technique for image-guided surgery. To address the uncertainty in reconstructing entire shapes from single-viewpoint occluded images,…
In the case of breast cancer, as with most cancers, early detection can significantly improve a person's chances of survival. This makes it important for there to be an effective and accessible means of regularly checking for manifestations…
Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…