Related papers: Augmented Reality and Human-Robot Collaboration Fr…
Neural representations have emerged as a new paradigm for applications in rendering, imaging, geometric modeling, and simulation. Compared to traditional representations such as meshes, point clouds, or volumes they can be flexibly…
This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
Visual navigation for cross-embodiment robots is challenging due to variations in robot and camera configurations, which can lead to the failure of navigation tasks. Previous approaches typically rely on collecting massive datasets across…
In emergency response missions, first responders must navigate cluttered indoor environments where occlusions block direct line-of-sight, concealing both life-threatening hazards and victims in need of rescue. We present STARC, a…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition,…
Objectives Computer vision (CV) is a field of artificial intelligence that enables machines to interpret and understand images and videos. CV has the potential to be of assistance in the operating room (OR) to track surgical instruments. We…
Purpose: Automated Surgical Phase Recognition (SPR) uses Artificial Intelligence (AI) to segment the surgical workflow into its key events, functioning as a building block for efficient video review, surgical education as well as skill…
Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
Early detection and segmentation of skin lesions is crucial for timely diagnosis and treatment, necessary to improve the survival rate of patients. However, manual delineation is time consuming and subject to intra- and inter-observer…
Rebar inspection in reinforced concrete construction requires sustained awkward postures and complex mental mapping of two-dimensional drawings onto three-dimensional assemblies. This study evaluated an Augmented Reality (AR)-assisted rebar…
Arthroscopy is a minimally invasive surgical procedure used to diagnose and treat joint problems. The clinical workflow of arthroscopy typically involves inserting an arthroscope into the joint through a small incision, during which…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
Current spinal pain management procedures, such as radiofrequency ablation (RFA) and epidural steroid injection (ESI), rely on fluoroscopy for needle placement which exposes patients and physicians to ionizing radiation. In this paper, we…
Deep convolutional neural networks (DCNNs) have demonstrated excellent performance in object recognition and have been found to share some similarities with brain visual processing. However, the substantial gap between DCNNs and human…
Positive margins are common in head and neck squamous cell carcinoma, yet intraoperative re-resection is often imprecise because margin locations are typically communicated verbally from pathology. We present an all-in-one augmented reality…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…