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Human activity recognition has grown in popularity with its increase of applications within daily lifestyles and medical environments. The goal of having efficient and reliable human activity recognition brings benefits such as accessible…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…
Human activity recognition based on wearable sensor data has been an attractive research topic due to its application in areas such as healthcare and smart environments. In this context, many works have presented remarkable results using…
Spatio-temporal video grounding aims to retrieve the spatio-temporal tube of a queried object according to the given sentence. Currently, most existing grounding methods are restricted to well-aligned segment-sentence pairs. In this paper,…
Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…
Contemporary state-of-the-art video object segmentation (VOS) models compare incoming unannotated images to a history of image-mask relations via affinity or cross-attention to predict object masks. We refer to the internal memory state of…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…
Existing methods on video-based action recognition are generally view-dependent, i.e., performing recognition from the same views seen in the training data. We present a novel multiview spatio-temporal AND-OR graph (MST-AOG) representation…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
On the journey to enable robots to interact with the real world where humans, animals, and unpredictable elements are acting as independent agents; it is crucial for robots to have the capability to detect dynamic objects. In this paper, we…
This paper aims at task-oriented action prediction, i.e., predicting a sequence of actions towards accomplishing a specific task under a certain scene, which is a new problem in computer vision research. The main challenges lie in how to…
Data-driven approaches to assist operating room (OR) workflow analysis depend on large curated datasets that are time consuming and expensive to collect. On the other hand, we see a recent paradigm shift from supervised learning to…
Robot-assisted minimally invasive surgeries offer many advantages but require complex motor tasks that take surgeons years to master. There is currently a lack of knowledge on how surgeons acquire these robotic surgical skills. Toward…
Surgical gesture recognition is important for surgical data science and computer-aided intervention. Even with robotic kinematic information, automatically segmenting surgical steps presents numerous challenges because surgical…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
Action recognition is a prerequisite for many applications in laparoscopic video analysis including but not limited to surgical training, operation room planning, follow-up surgery preparation, post-operative surgical assessment, and…
With the rapid development of the internet of things (IoT) and artificial intelligence (AI) technologies, human activity recognition (HAR) has been applied in a variety of domains such as security and surveillance, human-robot interaction,…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…