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Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…
A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…
Compressive sensing (CS) has been studied and applied in structural health monitoring for wireless data acquisition and transmission, structural modal identification, and spare damage identification. The key issue in CS is finding the…
Deformable image registration is fundamental to longitudinal and population analysis. Geometric alignment of the infant brain MR images is challenging, owing to rapid changes in image appearance in association with brain development. In…
Camera pose refinement aims at improving the accuracy of initial pose estimation for applications in 3D computer vision. Most refinement approaches rely on 2D-3D correspondences with specific descriptors or dedicated networks, requiring…
Although deep learning (DL) shows powerful potential in cell segmentation tasks, it suffers from poor generalization as DL-based methods originally simplified cell segmentation in detecting cell membrane boundary, lacking prominent cellular…
With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…
Skin cancer is among the most common cancer types. Dermoscopic image analysis improves the diagnostic accuracy for detection of malignant melanoma and other pigmented skin lesions when compared to unaided visual inspection. Hence,…
Indoor robotics localization, navigation, and interaction heavily rely on scene understanding and reconstruction. Compared to the monocular vision which usually does not explicitly introduce any geometrical constraint, stereo vision-based…
Image servo is an indispensable technique in robotic applications that helps to achieve high precision positioning. The intermediate representation of image servo policy is important to sensor input abstraction and policy output guidance.…
Depth perception is crucial for spatial understanding and has traditionally been achieved through stereoscopic imaging. However, the precision of depth estimation using stereoscopic methods depends on the accurate calibration of binocular…
High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of…
Neuronavigation is widely used in biomedical research and interventions to guide the precise placement of instruments around the head to support procedures such as transcranial magnetic stimulation. Traditional systems, however, rely on…
In the field of medical image analysis, image registration is a crucial technique. Despite the numerous registration models that have been proposed, existing methods still fall short in terms of accuracy and interpretability. In this paper,…
SEGSRNet addresses the challenge of precisely identifying surgical instruments in low-resolution stereo endoscopic images, a common issue in medical imaging and robotic surgery. Our innovative framework enhances image clarity and…
We present a real-time approach for multi-person 3D motion capture at over 30 fps using a single RGB camera. It operates successfully in generic scenes which may contain occlusions by objects and by other people. Our method operates in…
Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in onboard camera viewpoints cause significant visual scale…
The presence of motion artifacts in magnetic resonance imaging (MRI) scans poses a significant challenge, where even minor patient movements can lead to artifacts that may compromise the scan's utility.This paper introduces MAsked MOtion…
In a structural health monitoring (SHM) system that uses digital cameras to monitor cracks of structural surfaces, techniques for reliable and effective data compression are essential to ensure a stable and energy efficient crack images…
Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…