Related papers: Online Topological Localization for Navigation Ass…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…
Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…
We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating the robot toward objects, our approach considers the…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
X-ray based measurement and guidance are commonly used tools in orthopaedic surgery to facilitate a minimally invasive workflow. Typically, a surgical planning is first performed using knowledge of bone morphology and anatomical landmarks.…
Video-assisted thoracoscopic surgery (VATS) is a minimally invasive surgical technique for the diagnosis and treatment of early-stage lung cancer. During VATS, large lung deformation occurs as a result of a change of patient position and a…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
Localization of an object within an image is a common task in medical imaging. Learning to localize or detect objects typically requires the collection of data which has been labelled with bounding boxes or similar annotations, which can be…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
Topological correctness, i.e., the preservation of structural integrity and specific characteristics of shape, is a fundamental requirement for medical imaging tasks, such as neuron or vessel segmentation. Despite the recent surge in…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Clinical examinations that involve endoscopic exploration of the nasal cavity and sinuses often do not have a reference image to provide structural context to the clinician. In this paper, we present a system for navigation during clinical…
Implementation of real-time, continuous, and three-dimensional imaging (4D intervention guidance) would be a quantum leap for minimally-invasive medicine. It allows guidance during interventions by assessing the spatial position of…
This study considers modern surgical navigation systems based on augmented reality technologies. Augmented reality glasses are used to construct holograms of the patient's organs from MRI and CT data, subsequently transmitted to the…