Related papers: SurgCalib: Gaussian Splatting-Based Hand-Eye Calib…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online targetless calibration enables a prompt sensor misalignment…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
Spine surgery is a high-risk intervention demanding precise execution, often supported by image-based navigation systems. Recently, supervised learning approaches have gained attention for reconstructing 3D spinal anatomy from sparse…
Accurate LiDAR-camera calibration is crucial for multi-sensor systems. However, traditional methods often rely on physical targets, which are impractical for real-world deployment. Moreover, even carefully calibrated extrinsics can degrade…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not…
It is now possible to estimate 3D human pose from monocular images with off-the-shelf 3D pose estimators. However, many practical applications require fine-grained absolute pose information for which multi-view cues and camera calibration…
This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
Computer vision technologies markedly enhance the automation capabilities of robotic-assisted minimally invasive surgery (RAMIS) through advanced tool tracking, detection, and localization. However, the limited availability of comprehensive…
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities;…
LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…