相关论文: A Deep Learning Based 6 Degree-of-Freedom Localiza…

We present an accurate and robust method for six degree of freedom image localization. There are two key-points of our method, 1. automatic immense photo synthesis and labeling from point cloud model and, 2. pose estimation with deep…

In this paper, we present RegNet, the first deep convolutional neural network (CNN) to infer a 6 degrees of freedom (DOF) extrinsic calibration between multimodal sensors, exemplified using a scanning LiDAR and a monocular camera. Compared…

Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive and inaccessible to most consumers. In addition, grasp…

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…

In this paper we investigate how to effectively deploy deep learning in practical industrial settings, such as robotic grasping applications. When a deep-learning based solution is proposed, usually lacks of any simple method to generate…

Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have…

Machine learning techniques, namely convolutional neural networks (CNN) and regression forests, have recently shown great promise in performing 6-DoF localization of monocular images. However, in most cases image-sequences, rather only…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Deep learning techniques hold promise to develop dense topography reconstruction and pose estimation methods for endoscopic videos. However, currently available datasets do not support effective quantitative benchmarking. In this paper, we…

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of…

We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DOF camera pose from a single RGB image. It is trained in an end-to-end manner…

A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal…

In the last decade, researchers and medical device companies have made major advances towards transforming passive capsule endoscopes into active medical robots. One of the major challenges is to endow capsule robots with accurate…

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…

Capsule endoscopy is an evolutional technique for examining and diagnosing intractable gastrointestinal diseases. Because of the huge amount of data, analyzing capsule endoscope videos is very time-consuming and labor-intensive for…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

The interpretation and analysis of the wireless capsule endoscopy recording is a complex task which requires sophisticated computer aided decision (CAD) systems in order to help physicians with the video screening and, finally, with the…