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We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

Transrectal biopsies under 2D ultrasound (US) control are the current clinical standard for prostate cancer diagnosis. The isoechogenic nature of prostate carcinoma makes it necessary to sample the gland systematically, resulting in a low…

We address the novel task of jointly reconstructing the 3D shape, texture, and motion of an object from a single motion-blurred image. While previous approaches address the deblurring problem only in the 2D image domain, our proposed…

X-ray radiography is the most readily available imaging modality and has a broad range of applications that spans from diagnosis to intra-operative guidance in cardiac, orthopedics, and trauma procedures. Proper interpretation of the hidden…

X-rays are commonly used in imaging experiments due to their penetration power, which enables non-destructive resolution of internal structures in samples that are opaque to visible light. Time-resolved X-ray tomography is the…

One of the solutions of depth imaging of moving scene is to project a static pattern on the object and use just a single image for reconstruction. However, if the motion of the object is too fast with respect to the exposure time of the…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

We present a fast learning-based algorithm for deformable, pairwise 3D medical image registration. Current registration methods optimize an objective function independently for each pair of images, which can be time-consuming for large…

X-ray mirrors with high focusing performances are in use in both mirror modules for X-ray telescopes and in synchrotron and FEL (Free Electron Laser) beamlines. A degradation of the focus sharpness arises in general from geometrical…

This paper presents deformable templates as a tool for segmentation and localization of biological structures in medical images. Structures are represented by a prototype template, combined with a parametric warp mapping used to deform the…

Many computer vision and image processing applications rely on local features. It is well-known that motion blur decreases the performance of traditional feature detectors and descriptors. We propose an inertial-based deblurring method for…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…

We present a new learning-based framework S-3D-RCNN that can recover accurate object orientation in SO(3) and simultaneously predict implicit rigid shapes from stereo RGB images. For orientation estimation, in contrast to previous studies…

In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…

Accurate tracking of an anatomical landmark over time has been of high interests for disease assessment such as minimally invasive surgery and tumor radiation therapy. Ultrasound imaging is a promising modality benefiting from low-cost and…

Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…