Related papers: PANS: Probabilistic Airway Navigation System for R…
Autonomous ultrasound (US) acquisition is an important yet challenging task, as it involves interpretation of the highly complex and variable images and their spatial relationships. In this work, we propose a deep reinforcement learning…
Bronchoscopy inspection as a follow-up procedure from the radiological imaging plays a key role in lung disease diagnosis and determining treatment plans for the patients. Doctors needs to make a decision whether to biopsy the patients…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
3D microscopy is key in the investigation of diverse biological systems, and the ever increasing availability of large datasets demands automatic cell identification methods that not only are accurate, but also can imply the uncertainty in…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…
We consider the positioning problem in non line-of-sight (NLoS) situations, where several base stations (BS) try to locate a user equipment (UE) based on uplink angle of arrival (AoA) measurements and a digital twin of the environment. Ray…
Recently, the pinching antenna systems (PASS) have attracted significant attention due to their ability to exploit dynamically reconfigurable pinching points along waveguides for flexible signal transmission. However, existing work largely…
Machine vision, including object recognition and image reconstruction, is a central technology in many consumer devices and scientific instruments. The design of machine-vision systems has been revolutionized by the adoption of end-to-end…
Pathological lung segmentation (PLS) is an important, yet challenging, medical image application due to the wide variability of pathological lung appearance and shape. Because PLS is often a pre-requisite for other imaging analytics,…
Mission planners for aircraft that operate in radar detection environments are often concerned the probability of detection. The probability of detection is a nonlinear function of the aircraft pose and radar position. Current path planning…
Most 6-DoF localization and SLAM systems use static landmarks but ignore dynamic objects because they cannot be usefully incorporated into a typical pipeline. Where dynamic objects have been incorporated, typical approaches have attempted…
Bronchoscopy is routinely conducted in pulmonary clinics and intensive care units, but navigating the complex branching of the respiratory tract remains challenging. This paper introduces BronchoLumen, a real-time YOLO-based system for…
Accurate intraoperative navigation is essential for robot-assisted endoluminal intervention, but remains difficult because of limited endoscopic field of view and dynamic artifacts. Existing navigation platforms often rely on external…
In this paper, we present PALMS, an innovative indoor global localization and relocalization system for mobile smartphones that utilizes publicly available floor plans. Unlike most vision-based methods that require constant visual input,…
We present polynomial-augmented neural networks (PANNs), a novel machine learning architecture that combines deep neural networks (DNNs) with a polynomial approximant. PANNs combine the strengths of DNNs (flexibility and efficiency in…
Localizing oneself during endoscopic procedures can be problematic due to the lack of distinguishable textures and landmarks, as well as difficulties due to the endoscopic device such as a limited field of view and challenging lighting…
Employing Unmanned Aircraft Systems (UAS) beyond visual line of sight (BVLOS) is an endearing and challenging task. While UAS have the potential to significantly enhance today's logistics and emergency response capabilities, unmanned flying…
We achieve very efficient deep learning model deployment that designs neural network architectures to fit different hardware constraints. Given a constraint, most neural architecture search (NAS) methods either sample a set of sub-networks…
Pulmonary Embolisms (PE) represent a leading cause of cardiovascular death. While medical imaging, through computed tomographic pulmonary angiography (CTPA), represents the gold standard for PE diagnosis, it is still susceptible to…