相关论文: Real-time 3D Tracking of Articulated Tools for Rob…

Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…

Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…

Real-time 3D human pose estimation is crucial for human-computer interaction. It is cheap and practical to estimate 3D human pose only from monocular video. However, recent bone splicing based 3D human pose estimation method brings about…

Open, or non-laparoscopic surgery, represents the vast majority of all operating room procedures, but few tools exist to objectively evaluate these techniques at scale. Current efforts involve human expert-based visual assessment. We…

This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…

Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Validation of newly developed optical tissue sensing techniques for tumor detection during cancer surgery requires an accurate correlation with histological results. Additionally, such accurate correlation facilitates precise data labeling…

The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…

Tracking and reconstructing the 3D pose and geometry of two hands in interaction is a challenging problem that has a high relevance for several human-computer interaction applications, including AR/VR, robotics, or sign language…

Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

Extended Reality (XR) technologies are gaining traction as effective tools for medical training and procedural guidance, particularly in complex cardiac interventions. This paper presents a novel system for real-time 3D tracking and…

When technical requirements are high, and patient outcomes are critical, opportunities for monitoring and improving surgical skills via objective motion analysis feedback may be particularly beneficial. This narrative review synthesises…

Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…

Accurate and efficient surgical robotic tool pose estimation is of fundamental significance to downstream applications such as augmented reality (AR) in surgical training and learning-based autonomous manipulation. While significant…

Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…

Skeleton creation is an important phase in the character animation pipeline. However, handcrafting skeleton takes extensive labor time and domain knowledge. Automatic skeletonization provides a solution. However, most of the current…

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…