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

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…

The availability of low-cost range sensors and the development of relatively robust algorithms for the extraction of skeleton joint locations have inspired many researchers to develop human activity recognition methods using the 3-D data.…

We address the problem of human motion tracking by registering a surface to 3-D data. We propose a method that iteratively computes two things: Maximum likelihood estimates for both the kinematic and free-motion parameters of a kinematic…

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…

Automatic recognition and classification of tasks in robotic surgery is an important stepping stone toward automated surgery and surgical training. Recently, technical breakthroughs in gathering data make data-driven model development…

Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…

In this survey, we present a systematic review of 3D hand pose estimation from the perspective of efficient annotation and learning. 3D hand pose estimation has been an important research area owing to its potential to enable various…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

Background. Bimanual psychomotor proficiency is fundamental to neurosurgical procedures, yet it remains difficult for trainees to acquire and for educators to objectively evaluate performance. In this study, we investigate the feasibility…

Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored problem due to their inherent kinematic constraints. To…

This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing…

Regulatory compliance auditing across diverse industrial domains requires heightened quality assurance and traceability. Present manual and intermittent approaches to such auditing yield significant challenges, potentially leading to…

Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…

Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods rely on labor-intensive annotations or rigid assumptions,…

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…

Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and…

Tissue awareness has a great demand to improve surgical accuracy in minimally invasive procedures. In arthroscopy, it is one of the challenging tasks due to surgical sites exhibit limited features and textures. Moreover, arthroscopic…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

In this paper we address the problem of tracking non-rigid objects whose local appearance and motion changes as a function of time. This class of objects includes dynamic textures such as steam, fire, smoke, water, etc., as well as…