Related papers: SurgCalib: Gaussian Splatting-Based Hand-Eye Calib…
Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumption due to persistent soft-tissue deformations, creating a…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well as camera calibration create errors in this coordinate frame…
3D Gaussian Splatting algorithms excel in novel view rendering applications and have been adapted to extend the capabilities of traditional SLAM systems. However, current Gaussian Splatting SLAM methods, designed mainly for hand-held RGB or…
Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
Accurate geometric reconstruction of deformable tissues in monocular endoscopic video remains a fundamental challenge in robot-assisted minimally invasive surgery. Although recent volumetric and point primitive methods based on neural…
Sparse Multi-view Images can be Learned to predict explicit radiance fields via Generalizable Gaussian Splatting approaches, which can achieve wider application prospects in real-life when ground-truth camera parameters are not required as…
From a single image, visual cues can help deduce intrinsic and extrinsic camera parameters like the focal length and the gravity direction. This single-image calibration can benefit various downstream applications like image editing and 3D…
Accurate pose estimation of surgical tools in Robot-assisted Minimally Invasive Surgery (RMIS) is essential for surgical navigation and robot control. While traditional marker-based methods offer accuracy, they face challenges with…
Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperforming traditional methods reliant on 2D camera feeds and…
High-fidelity reconstruction of surgical scene is a fundamentally crucial task to support many applications, such as intra-operative navigation and surgical education. However, most existing methods assume the ideal surgical scenarios -…
Recently, generalizable human Gaussian splatting from sparse-view inputs has been actively studied for the photorealistic human rendering. Most existing methods rely on explicit geometric constraints or predefined structural representations…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup…
Endoscopic Sinus and Skull Base Surgeries (ESSBSs) is a challenging and potentially dangerous surgical procedure, and objective skill assessment is the key components to improve the effectiveness of surgical training, to re-validate…
Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current methods have seen significant improvements in both reconstruction…
Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although training using simulations offers a cost-effective alternative, the visual domain gap…