Related papers: Online Topological Localization for Navigation Ass…
Vision-based 6-DOF bronchoscopy localization offers a promising solution for accurate and cost-effective interventional guidance. However, existing methods struggle with 1) limited generalization across patient cases due to scarce labeled…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
We propose a topological mapping and localization system able to operate on real human colonoscopies, despite significant shape and illumination changes. The map is a graph where each node codes a colon location by a set of real images,…
Bronchoscopy plays a significant role in the early diagnosis and treatment of lung diseases. This process demands physicians to maneuver the flexible endoscope for reaching distal lesions, particularly requiring substantial expertise when…
CT-based bronchial tree analysis plays an important role in the computer-aided diagnosis for respiratory diseases, as it could provide structured information for clinicians. The basis of airway analysis is bronchial tree reconstruction,…
Interactive Sonification is a well-known guidance method in navigation tasks. Researchers have repeatedly suggested the use of interactive sonification in neuronavigation and image-guided surgery. The hope is to reduce clinicians' cognitive…
Segmentation of the bronchovascular bundle within the lung parenchyma is a key step for the proper analysis and planning of many pulmonary diseases. It might also be considered the preprocessing step when the goal is to segment the nodules…
Traditionally, there have been few options for navigational aids for the blind and visually impaired (BVI) in large indoor spaces. Some recent indoor navigation systems allow users equipped with smartphones to interact with low cost…
Purpose: We present a virtual model to optimize point of entry (POE) in lung biopsy planning systems. Our model allows to compute the quality of a biopsy sample taken from potential POE, taking into account the margin of error that arises…
Vision-language models (VLMs) have recently shown remarkable performance in navigation and localization tasks by leveraging large-scale pretraining for semantic understanding. However, applying VLMs to 6-DoF endoscopic camera localization…
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…
The limited availability of bronchoscopy images makes image synthesis particularly interesting for training deep learning models. Robust image translation across different domains -- virtual bronchoscopy, phantom as well as in-vivo and…
Advanced minimally invasive neurosurgery navigation relies mainly on Magnetic Resonance Imaging (MRI) guidance. MRI guidance, however, only provides pre-operative information in the majority of the cases. Once the surgery begins, the value…
This study demonstrates a method to locate an ideal perch location on a tree for vision-guided autonomous tree-perching drones. Various image processing algorithms, including those used for machine learning, image segmentation and binary…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
Eye tracking has emerged as a powerful tool for examining visual perception and search strategies in various domains, including medicine. While it is relatively straightforward to apply in 2D settings, its use in 3D medical imaging remains…
Due to complexity and invisibility of human organs, diagnosticians need to analyze medical images to determine where the lesion region is, and which kind of disease is, in order to make precise diagnoses. For satisfying clinical purposes…
Cardiac and lung ultrasound are technically demanding because operators must identify patient-specific intercostal acoustic windows and then navigate between standard views by adjusting probe position, rotation, and force across different…
We introduce a novel approach for the precise localization of 67 anatomical structures from single depth images captured from the exterior of the human body. Our method uses a multi-class occupancy network, trained using segmented CT scans…
Accurate identification and localization of abnormalities from radiology images play an integral part in clinical diagnosis and treatment planning. Building a highly accurate prediction model for these tasks usually requires a large number…