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LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…
The increasing demand for critical raw materials has revitalized interest in abandoned underground mines, which pose extreme challenges for conventional drilling machinery due to confined, unstructured, and infrastructure-less environments.…
The current standard of intra-operative navigation during Fenestrated Endovascular Aortic Repair (FEVAR) calls for need of 3D alignments between inserted devices and aortic branches. The navigation commonly via 2D fluoroscopic images, lacks…
We propose SDFDiff, a novel approach for image-based shape optimization using differentiable rendering of 3D shapes represented by signed distance functions (SDFs). Compared to other representations, SDFs have the advantage that they can…
Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to…
Vision-based surgical navigation has received increasing attention due to its non-invasive, cost-effective, and flexible advantages. In particular, a critical element of the vision-based navigation system is tracking surgical instruments.…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
Surgical training involves didactic teaching, mentor-led learning, surgical skills laboratories, and direct exposure to surgery; however, increasing clinical pressures have limited operating room (OR) exposure. This work leverages virtual…
Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…
In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of…
Automatic parsing of human anatomies at the instance-level from 3D computed tomography (CT) is a prerequisite step for many clinical applications. The presence of pathologies, broken structures or limited field-of-view (FOV) can all make…
Various SDF-based neural implicit surface reconstruction methods have been proposed recently, and have demonstrated remarkable modeling capabilities. However, due to the global nature and limited representation ability of a single network,…
Object completion networks typically produce static Signed Distance Fields (SDFs) that faithfully reconstruct geometry but cannot be rescaled or deformed without introducing structural distortions. This limitation restricts their use in…
State-of-the-art computer- and robot-assisted surgery systems heavily depend on intraoperative imaging technologies such as CT and fluoroscopy to generate detailed 3D visualization of the patient's anatomy. While imaging techniques are…
It is vital to infer a signed distance function (SDF) in multi-view based surface reconstruction. 3D Gaussian splatting (3DGS) provides a novel perspective for volume rendering, and shows advantages in rendering efficiency and quality.…
3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…
Fully convolutional networks have become the backbone of modern medical imaging due to their ability to learn multi-scale representations and perform end-to-end inference. Yet their potential for slice-to-volume reconstruction (SVR), the…