相关论文: Real-time Geometry-Aware Augmented Reality in Mini…

Depth estimation is a crucial step for image-guided intervention in robotic surgery and laparoscopic imaging system. Since per-pixel depth ground truth is difficult to acquire for laparoscopic image data, it is rarely possible to apply…

Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…

Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…

Surgical simulation is essential for medical training, enabling practitioners to develop crucial skills in a risk-free environment while improving patient safety and surgical outcomes. However, conventional methods for building simulation…

Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant progress has been made, researchers are still mostly driven by…

In this article, we introduce a novel algorithm for efficient near-field synthetic aperture radar (SAR) imaging for irregular scanning geometries. With the emergence of fifth-generation (5G) millimeter-wave (mmWave) devices, near-field SAR…

In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters.…

We propose a novel edge-assisted multi-user collaborative augmented reality framework in a large indoor environment. In Collaborative Augmented Reality, data communication that synchronizes virtual objects has large network traffic and high…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…

We present the AMPS algorithm, a finite element solution method that combines principal submatrix updates and Schur complement techniques, well-suited for interactive simulations of deformation and cutting of finite element meshes. Our…

Augmented reality (AR) requires the seamless integration of visual, auditory, and linguistic channels for optimized human-computer interaction. While auditory and visual inputs facilitate real-time and contextual user guidance, the…

Reconstructing real-world objects from multi-view images is essential for applications in 3D editing, AR/VR, and digital content creation. Existing methods typically prioritize either geometric accuracy (Multi-View Stereo) or photorealistic…

Augmented Reality (AR) solutions are providing tools that could improve applications in the medical and industrial fields. Augmentation can provide additional information in training, visualization, and work scenarios, to increase…

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…

Geometric high-fidelity mesh reconstruction from LiDAR-inertial scans remains challenging in large, complex indoor environments -- such as cultural buildings -- where point cloud sparsity, geometric drift, and fixed fusion parameters…

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…

Gaze tracking is increasingly becoming an essential component in Augmented and Virtual Reality. Modern gaze tracking al gorithms are heavyweight; they operate at most 5 Hz on mobile processors despite that near-eye cameras comfortably…

Minimally invasive surgery (MIS) has revolutionized many procedures and led to reduced recovery time and risk of patient injury. However, MIS poses additional complexity and burden on surgical teams. Data-driven surgical vision algorithms…

Mixed Reality (MR)-aided operation overlays digital objects on the physical world to provide a more immersive and intuitive operation process. A primary challenge is the precise and fast auto-verification of whether the user follows MR…