Related papers: Model-Based Pose Estimation of Steerable Catheters…
Despite the impressive performance of vision-based pose estimators, they generally fail to perform well under adverse vision conditions and often don't satisfy the privacy demands of customers. As a result, researchers have begun to study…
Machine learning methods for computational imaging require uncertainty estimation to be reliable in real settings. While Bayesian models offer a computationally tractable way of recovering uncertainty, they need large data volumes to be…
In this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…
Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Beam steering enables manipulation of the electromagnetic radiation patterns in antenna array systems. A methodology for steering beams in the near field of a planar antenna array with known phase wavefront functions towards arbitrary…
The family of multi-plane phase retrieval sensors, such as the curvature and nonlinear curvature wavefront sensors (WFS), contain tip/tilt information embedded in their signals. We have built a nonlinear curvature WFS to study different…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
Bokeh rendering is one of the most popular techniques in photography. It can make photographs visually appealing, forcing users to focus their attentions on particular area of image. However, achieving satisfactory bokeh effect usually…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
Purpose: Endovascular aortic repair procedures are currently conducted with 2D fluoroscopy imaging. Tracking systems based on fiber Bragg gratings are an emerging technology for the navigation of minimal-invasive instruments which can…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…
Accurately calibrating light field camera is essential to its applications. Rapid progress has been made in this area in the past decades. In this paper, detailed analysis was first performed towards the state of the art projection models…
Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
We present a numerical and experimental study of feedback control of unstable cellular patterns in directional solidification (DS). The sample, a dilute binary alloy, solidifies in a 2D geometry under a control scheme which applies local…
To be feasible for computationally intensive applications such as parametric studies, optimization and control design, large-scale finite element analysis requires model order reduction. This is particularly true in nonlinear settings that…
This paper presents a novel method for estimating the orientation and the position of acetabular hip implants in total hip arthroplasty using full anterior-posterior hip fluoroscopy images. Our method accounts for distortions induced in the…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…