Related papers: SlicerOrbitSurgerySim: An Open-Source Platform for…
Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is…
This paper develops a robust optimization based method to design orbits on which the sensory perception of the desired physical quantities are maximized. It also demonstrates how to incorporate various constraints imposed by many spacecraft…
Interactive segmentation plays a crucial role in accelerating the annotation, particularly in domains requiring specialized expertise such as nuclear medicine. For example, annotating lesions in whole-body Positron Emission Tomography (PET)…
Intraoperative optical imaging is a localization technique for the functional areas of the human brain cortex during neurosurgical procedures. These areas can be assessed by monitoring cerebral hemodynamics and metabolism. A robust…
orbitize! is an open-source, object-oriented software package for fitting the orbits of directly-imaged objects. It packages the Orbits for the Impatient (OFTI) algorithm and a parallel-tempered Markov Chain Monte Carlo (MCMC) algorithm…
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception…
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…
Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…
The supercomputing platforms available for high performance computing based research evolve at a great rate. However, this rapid development of novel technologies requires constant adaptations and optimizations of the existing codes for…
Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key necessity in progressing SLAM research is the availability of…
This paper aims to tackle the issues on unavailable or insufficient clinical US data and meaningful annotation to enable bone segmentation and registration for US-guided spinal surgery. While the US is not a standard paradigm for spinal…
We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for…
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and…
LiDAR-based 3D point cloud recognition has benefited various applications. Without specially considering the LiDAR point distribution, most current methods suffer from information disconnection and limited receptive field, especially for…
This paper presents Open-Structure, a novel benchmark dataset for evaluating visual odometry and SLAM methods. Compared to existing public datasets that primarily offer raw images, Open-Structure provides direct access to point and line…
A number of recent studies have focused on developing surgical simulation platforms to train machine learning (ML) agents or models with synthetic data for surgical assistance. While existing platforms excel at tasks such as rigid body…
Non-rigid registration is a key component in soft-tissue navigation. We focus on laparoscopic liver surgery, where we register the organ model obtained from a preoperative CT scan to the intraoperative partial organ surface, reconstructed…
Research attention on natural user interfaces (NUIs) for drone flights are rising. Nevertheless, NUIs are highly diversified, and primarily evaluated by different physical environments leading to hard-to-compare performance between such…
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…