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Optical coherence tomography (OCT) is a non-invasive imaging technique that can produce images of the eye at the microscopic level. OCT image segmentation to localise retinal layer boundaries is a fundamental procedure for diagnosing and…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…
Segmentation, i.e., the partitioning of volumetric data into components, is a crucial task in many image processing applications ever since such data could be generated. Most existing applications nowadays, specifically CNNs, make use of…
Gastrointestinal (GI) bleeding is a serious medical condition that presents significant diagnostic challenges, particularly in settings with limited access to healthcare resources. Wireless Capsule Endoscopy (WCE) has emerged as a powerful…
Object segmentation plays an important role in the modern medical image analysis, which benefits clinical study, disease diagnosis, and surgery planning. Given the various modalities of medical images, the automated or semi-automated…
Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance while the semantic segmentation of the robotic instrument…
Automatic segmentation of liver lesions is a fundamental requirement towards the creation of computer aided diagnosis (CAD) and decision support systems (CDS). Traditional segmentation approaches depend heavily upon hand-crafted features…
On-line segmentation of the uterus can aid effective image-based guidance for precise delivery of dose to the target tissue (the uterocervix) during cervix cancer radiotherapy. 3D ultrasound (US) can be used to image the uterus, however,…
Rapid diagnosis of gastric cancer is a great challenge for clinical doctors. Dramatic progress of computer vision on gastric cancer has been made recently and this review focuses on advances during the past five years. Different methods for…
Automatic segmentation of the liver and hepatic lesions is an important step towards deriving quantitative biomarkers for accurate clinical diagnosis and computer-aided decision support systems. This paper presents a method to automatically…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Lesion segmentation in medical imaging has been an important topic in clinical research. Researchers have proposed various detection and segmentation algorithms to address this task. Recently, deep learning-based approaches have…
Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…
Background: The aim of this study was to develop and evaluate a deep learning-based automated segmentation method for hepatic anatomy (i.e., parenchyma, tumors, portal vein, hepatic vein and biliary tree) from the hepatobiliary phase of…
Background: Automated analysis of CT scans for abdominal organ measurement is crucial for improving diagnostic efficiency and reducing inter-observer variability. Manual segmentation and measurement of organs such as the kidneys, liver,…
This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…
Mandible bone segmentation from computed tomography (CT) scans is challenging due to mandible's structural irregularities, complex shape patterns, and lack of contrast in joints. Furthermore, connections of teeth to mandible and mandible to…