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The extension of on-board data processing capabilities is an attractive option to reduce telemetry for scientific instruments on deep space missions. The challenges that this presents, however, require a comprehensive software system, which…
We present a collaborative extended reality (XR) prototype for 3D surgical planning and visualization. Our system consists of three key modules: XR-based immersive surgical planning, cloud-based data management, and coordinated stereoscopic…
ScopeSim is a flexible multipurpose instrument data simulation framework built in Python. It enables both raw and reduced observation data to be simulated for a wide range of telescopes and instruments quickly and efficiently on a personal…
Machine learning-based segmentation in medical imaging is widely used in clinical applications from diagnostics to radiotherapy treatment planning. Segmented medical images with ground truth are useful for investigating the properties of…
The reconstruction of an object's shape or surface from a set of 3D points plays an important role in medical image analysis, e.g. in anatomy reconstruction from tomographic measurements or in the process of aligning intra-operative…
PURPOSE: Interactive cardiac magnetic resonance imaging is used for fast scan planning and MR guided interventions. However, the requirement for real-time acquisition and near real-time visualization constrains the achievable…
Robust 3D registration is a fundamental problem in computer vision and robotics, where the goal is to estimate the geometric transformation between two sets of measurements in the presence of noise, mismatches, and extreme outlier…
Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…
Soft-tissue deformation remains a major limitation in image-guided neurosurgery, where intra-operative anatomy can deviate substantially from pre-operative imaging due to brain shift, compromising navigation accuracy and surgical safety.…
Breast-conserving surgery is the most acceptable operation for breast cancer removal from an invasive and psychological point of view. Before the surgical procedure, a preoperative MRI is performed in the prone configuration, while the…
While the Segment Anything Model (SAM) excels in semantic segmentation for general-purpose images, its performance significantly deteriorates when applied to medical images, primarily attributable to insufficient representation of medical…
Statistical shape modeling (SSM) is widely used in biology and medicine as a new generation of morphometric approaches for the quantitative analysis of anatomical shapes. Technological advancements of in vivo imaging have led to the…
Surgical instrument pose estimation provides crucial information for promising applications, including autonomous robotic surgery, skill assessment, and standardization of surgical workflow. However, this task remains highly challenging due…
In medical imaging, scans often reveal objects with varied contrasts but consistent internal intensities or textures. This characteristic enables the use of low-frequency approximations for tasks such as segmentation and deformation field…
While three-dimensional imaging is essential for clinical diagnosis, its high cost and long wait times have motivated the use of image-to-3D foundation models to infer volume from two-dimensional modalities. However, because these models…
Recent advances in interactive keypoint estimation methods have enhanced accuracy while minimizing user intervention. However, these methods require user input for error correction, which can be costly in vertebrae keypoint estimation where…
The rapid advancements in AI, scientific computing, and high-performance computing (HPC) have driven the need for versatile and efficient hardware accelerators. Existing tools like SCALE-Sim v2 provide valuable cycle-accurate simulations…
We introduce ConfidentSplat, a novel 3D Gaussian Splatting (3DGS)-based SLAM system for robust, highfidelity RGB-only reconstruction. Addressing geometric inaccuracies in existing RGB-only 3DGS SLAM methods that stem from unreliable depth…
Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to visualization and orientation challenges. We propose a…
We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…