Related papers: PANS: Probabilistic Airway Navigation System for R…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal…
Aerocapture is sensitive to trajectory errors, particularly for low-cost missions with imprecise navigation. For such missions, considering the probability of each failure mode when computing guidance commands can increase capture rate. A…
Placenta Accreta Spectrum (PAS) is a life-threatening obstetric complication involving abnormal placental invasion into the uterine wall. Early and accurate prenatal diagnosis is essential to reduce maternal and neonatal risks. This study…
Recently, the pinching-antenna system (PASS) has emerged as a promising architecture owing to its ability to reconfigure large-scale path loss and signal phase by activating radiation points along a dielectric waveguide. However, existing…
Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…
In perioperative care, precise in-bed 3D patient pose and shape estimation (PSE) can be vital in optimizing patient positioning in preoperative planning, enabling accurate overlay of medical images for augmented reality-based surgical…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Automated methods for detecting pulmonary embolisms (PEs) on CT pulmonary angiography (CTPA) images are of high demand. Existing methods typically employ separate steps for PE candidate detection and false positive removal, without…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…
Airway segmentation is crucial for the examination, diagnosis, and prognosis of lung diseases, while its manual delineation is unduly burdensome. To alleviate this time-consuming and potentially subjective manual procedure, researchers have…
Localization is one of the pivotal issues in wireless sensor network applications. In 3D localization studies, most algorithms focus on enhancing the location prediction process, lacking theoretical derivation of the detection distance of…
Robotic-assisted tracheal intubation requires the robot to distinguish anatomical features like an experienced physician using deep-learning techniques. However, real datasets of oropharyngeal organs are limited due to patient privacy…
Lung ultrasound (LUS) is an important imaging modality used by emergency physicians to assess pulmonary congestion at the patient bedside. B-line artifacts in LUS videos are key findings associated with pulmonary congestion. Not only can…
Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
When treating moving tumors, the precise delivery of proton therapy by pencil beam scanning (PBS) is challenged by the interplay effect. Although several 4D-optimization methods have been proposed, what is the most beneficial motion…
The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…
Identifying and interpreting fetal standard scan planes during 2D ultrasound mid-pregnancy examinations are highly complex tasks which require years of training. Apart from guiding the probe to the correct location, it can be equally…
Vision-based Unmanned Aerial Vehicle (UAV) localization systems have been extensively investigated for Global Navigation Satellite System (GNSS)-denied environments. However, existing retrieval-based approaches face limitations in dataset…