Related papers: A novel Integrated Motion Tracking Device (IMTD) f…
Comprehensive understanding of dynamic scenes is a critical prerequisite for intelligent robots to autonomously operate in their environment. Research in this domain, which encompasses diverse perception problems, has primarily been focused…
Automated tracking of surgical tool keypoints in robotic surgery videos is an essential task for various downstream use cases such as skill assessment, expertise assessment, and the delineation of safety zones. In recent years, the…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Purpose: We study the relationship between surgical gestures and motion primitives in dry-lab surgical exercises towards a deeper understanding of surgical activity at fine-grained levels and interpretable feedback in skill assessment.…
Purpose: 4D CBCT is a beneficial tool for the treatment of movable tumors, because it can help us to understand where the tumors are actually located and have a precise treatment plan. However, there is a limitation that general CBCT images…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
Mastering the technical skills required to perform surgery is an extremely challenging task. Video-based assessment allows surgeons to receive feedback on their technical skills to facilitate learning and development. Currently, this…
3D multi-object tracking (MOT) is an essential component for many applications such as autonomous driving and assistive robotics. Recent work on 3D MOT focuses on developing accurate systems giving less attention to practical considerations…
Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
Treating IMU measurements as inputs to a motion model and then preintegrating these measurements has almost become a de-facto standard in many robotics applications. However, this approach has a few shortcomings. First, it conflates the IMU…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
3D single object tracking in LiDAR point clouds (LiDAR SOT) plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and…
Purpose: Using 4D magnetic particle imaging (MPI), intravascular optical coherence tomography (IVOCT) catheters are tracked in real time in order to compensate for image artifacts related to relative motion. Our approach demonstrates the…
In the realm of video analysis, the field of multiple object tracking (MOT) assumes paramount importance, with the motion state of objects-whether static or dynamic relative to the ground-holding practical significance across diverse…
Human motion transfer (HMT) aims to generate a video clip for the target subject by imitating the source subject's motion. Although previous methods have achieved good results in synthesizing good-quality videos, they lose sight of…
We present IF-D, a large-scale inertial dataset designed to enable self-supervised and foundational learning for IMU time series. IF-D comprises continuous, long-duration multichannel recordings (accelerometer, gyroscope, magnetometer)…
Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Dynamic radiographic measurement of 3D TKA kinematics has provided important information for implant design and surgical technique for over 30 years. However, current methods of measuring TKA kinematics are too cumbersome or time-consuming…