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While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…

Estimating the 6D pose of objects from a single RGB image is a critical task for robotics and extended reality applications. However, state-of-the-art multi stage methods often suffer from high latency, making them unsuitable for real time…

Recent advances in machine learning technology have enabled highly portable and performant models for many common tasks, especially in image recognition. One emerging field, 3D human pose recognition extrapolated from video, has now…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…

The surgical usage of Mixed Reality (MR) has received growing attention in areas such as surgical navigation systems, skill assessment, and robot-assisted surgeries. For such applications, pose estimation for hand and surgical instruments…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

Fetal pose estimation in 3D ultrasound (US) involves identifying a set of associated fetal anatomical landmarks. Its primary objective is to provide comprehensive information about the fetus through landmark connections, thus benefiting…

Arthroscopic procedures can greatly benefit from navigation systems that enhance spatial awareness, depth perception, and field of view. However, existing optical tracking solutions impose strict workspace constraints and disrupt surgical…

Deep learning has made significant impacts on multi-view stereo systems. State-of-the-art approaches typically involve building a cost volume, followed by multiple 3D convolution operations to recover the input image's pixel-wise depth.…

Volume visualization is a method that displays three-dimensional (3D) data in two-dimensional (2D) space. Using 3D datasets instead of 2D traditional images improves the visualization of anatomical structures, and volume visualization helps…

Visual localization refers to the process of determining camera poses and orientation within a known scene representation. This task is often complicated by factors such as changes in illumination and variations in viewing angles. In this…

This paper proposes a fast and online method for jointly performing 3D multi-object tracking and pose estimation using multiple monocular cameras. Our algorithm requires only 2D bounding box and pose detections, eliminating the need for…

Driven by recent computer vision and robotic applications, recovering 3D human poses has become increasingly important and attracted growing interests. In fact, completing this task is quite challenging due to the diverse appearances,…

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

Robust and accurate 2D/3D registration, which aligns preoperative models with intraoperative images of the same anatomy, is crucial for successful interventional navigation. To mitigate the challenge of a limited field of view in…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…