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Tracking surgical modifications based on endoscopic videos is technically feasible and of great clinical advantages; however, it still remains challenging. This report presents a modular pipeline to divide and conquer the clinical…
This paper further develops the Method of Matched Sections (MMS), a robust numerical framework for the solution of boundary value problems governed by partial differential equations. It demonstrates its unique applicability to the…
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…
Radiance field methods such as 3D Gaussian Splatting (3DGS) allow easy reconstruction from photos, enabling free-viewpoint navigation. Nonetheless, pose estimation using Structure from Motion and 3DGS optimization can still each take…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
Reconstructing translucent objects from multi-view images is a difficult problem. Previously, researchers have used differentiable path tracing and the neural implicit field, which require relatively large computational costs. Recently,…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
The reconstruction of water wave elevation from bottom pressure measurements is an important issue for coastal applications, but corresponds to a difficult mathematical problem. In this paper we present the derivation of a method which…
A direct reconstruction algorithm based on Calder\'on's linearization method for the reconstruction of isotropic conductivities is proposed for anisotropic conductivities in two-dimensions. To overcome the non-uniqueness of the anisotropic…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
Recent advance in feed-forward 3D Gaussian splatting has enable remarkable multi-view 3D scene reconstruction or single-view 3D object reconstruction but single-view 3D scene reconstruction remain under-explored due to inherited ambiguity…
Shape optimization is a challenging task in many engineering fields, since the numerical solutions of parametric system may be computationally expensive. This work presents a novel optimization procedure based on reduced order modeling,…
Trajectory reconstruction is the process of inferring the path of a moving object between successive observations. In this paper, we propose a smoothing spline -- which we name the V-spline -- that incorporates position and velocity…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
The global stratification and circulation of the ocean and their sensitivities to changes in forcing depend crucially on the representation of the mesoscale eddy field. Here, a geometrically informed and energetically constrained…
Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…
A direct three dimensional EIT reconstruction algorithm based on complex geometrical optics solutions and a nonlinear scattering transform is presented and implemented for spherically symmetric conductivity distributions. The scattering…
Reverse engineering CAD models from raw geometry is a classic but challenging research problem. In particular, reconstructing the CAD modeling sequence from point clouds provides great interpretability and convenience for editing. To…
Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…
Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…