Related papers: PANS: Probabilistic Airway Navigation System for R…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
Diffusion-weighted magnetic resonance imaging (DW-MRI) is a powerful, non-invasive tool for detecting and characterizing abdominal lesions to facilitate early diagnosis, but respiratory motion during a scan reduces image quality and…
With lung cancer being the most fatal cancer worldwide, it is important to detect the disease early. A potentially effective way of detecting early cancer lesions developing along the airway walls (epithelium) is bronchoscopy. To this end,…
Accurate detection of pulmonary nodules with high sensitivity and specificity is essential for automatic lung cancer diagnosis from CT scans. Although many deep learning-based algorithms make great progress for improving the accuracy of…
Airway segmentation, especially bronchioles segmentation, is an important but challenging task because distal bronchus are sparsely distributed and of a fine scale. Existing neural networks usually exploit sparse topology to learn the…
Automatic pathological pulmonary lobe segmentation(PPLS) enables regional analyses of lung disease, a clinically important capability. Due to often incomplete lobe boundaries, PPLS is difficult even for experts, and most prior art requires…
This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…
Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…
Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…
Colorectal cancer screening through colonoscopy continues to be the dominant global standard, as it allows identifying pre-cancerous or adenomatous lesions and provides the ability to remove them during the procedure itself. Nevertheless,…
The increasing reliance on Computed Tomography Pulmonary Angiography (CTPA) for Pulmonary Embolism (PE) diagnosis presents challenges and a pressing need for improved diagnostic solutions. The primary objective of this study is to leverage…
Millimeter-wave (mmWave) MIMO systems rely on highly directional beamforming to overcome severe path loss and ensure robust communication links. However, selecting the optimal beam pair efficiently remains a challenge due to the large…
Navigating the ultrasound (US) probe to the standardized imaging plane (SIP) for image acquisition is a critical but operator-dependent task in conventional freehand diagnostic US. Robotic US systems (RUSS) offer the potential to enhance…
Modal parameter estimation of operational structures is often a challenging task when confronted with unwanted distortions (outliers) in field measurements. Atypical observations present a problem to operational modal analysis (OMA)…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Navigation inside a closed area with no GPS-signal accessibility is a highly challenging task. In order to tackle this problem, recently the imaging-based methods have grabbed the attention of many researchers. These methods either extract…
We introduce a new computer aided detection and diagnosis system for lung cancer screening with low-dose CT scans that produces meaningful probability assessments. Our system is based entirely on 3D convolutional neural networks and…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Lung cancer is the leading cause of cancer-related death worldwide, and early diagnosis is critical to improving patient outcomes. To diagnose cancer, a highly trained pulmonologist must navigate a flexible bronchoscope deep into the…
Bronchoscopic navigation relies on registering endoscopic video to a preoperative CT scan, but respiratory motion deforms the airway by 5-20 mm, creating CT-to-body divergence that limits localization accuracy. In practice, this is…