Related papers: Online Topological Localization for Navigation Ass…
Bronchoscopy is routinely conducted in pulmonary clinics and intensive care units, but navigating the complex branching of the respiratory tract remains challenging. This paper introduces BronchoLumen, a real-time YOLO-based system for…
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties for robot navigation. Vision-based…
Endovascular surgical tool reconstruction represents an important factor in advancing endovascular tool navigation, which is an important step in endovascular surgery. However, the lack of publicly available datasets significantly restricts…
Cricothyrotomy is a life-saving emergency intervention that secures an alternate airway route after a neck injury or obstruction. The procedure starts with identifying the correct location (the cricothyroid membrane) for creating an…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…
Robotic-assisted tracheal intubation requires the robot to distinguish anatomical features like an experienced physician using deep-learning techniques. However, real datasets of oropharyngeal organs are limited due to patient privacy…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
Visual localization algorithms have achieved significant improvements in performance thanks to recent advances in camera technology and vision-based techniques. However, there remains one critical caveat: all current approaches that are…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…
Monocular depth estimation has shown promise in general imaging tasks, aiding in localization and 3D reconstruction. While effective in various domains, its application to bronchoscopic images is hindered by the lack of labeled data,…
While we are making progress in overcoming infectious diseases and cancer; one of the major medical challenges of the mid-21st century will be the rising prevalence of stroke. Large vessels occlusions are especially debilitating, yet…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
Blood vessel segmentation and -tracing are essential tasks in many medical imaging applications. Although numerous methods exist, the prevailing segment-then-fix paradigm is fundamentally limited regarding its suitability for modeling the…
The diffusion of minimally invasive, endovascular interventions motivates the development of visualization methods for complex vascular networks. We propose a planar representation of blood vessel trees which preserves the properties that…
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…
Surgical tool localization is an essential task for the automatic analysis of endoscopic videos. In the literature, existing methods for tool localization, tracking and segmentation require training data that is fully annotated, thereby…
Knowledge of the road network topology is crucial for autonomous planning and navigation. Yet, recovering such topology from a single image has only been explored in part. Furthermore, it needs to refer to the ground plane, where also the…