相关论文: Magnetic-Visual Sensor Fusion-based Dense 3D Recon…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
As the number of people affected by diseases in the gastrointestinal system is ever-increasing, a higher demand on preventive screening is inevitable. This will significantly increase the workload on gastroenterologists. To help reduce the…
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…
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Generating accurate 3D reconstructions from endoscopic video is a promising avenue for longitudinal radiation-free analysis of sinus anatomy and surgical outcomes. Several methods for monocular reconstruction have been proposed, yielding…
Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…
We introduce Intrinsic Image Fusion, a method that reconstructs high-quality physically based materials from multi-view images. Material reconstruction is highly underconstrained and typically relies on analysis-by-synthesis, which requires…
Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…
Soft-tissue deformation remains a major limitation in image-guided neurosurgery, where intra-operative anatomy can deviate substantially from pre-operative imaging due to brain shift, compromising navigation accuracy and surgical safety.…
Accurate three-dimensional (3D) reconstruction of guidewire shapes is crucial for precise navigation in robot-assisted endovascular interventions. Conventional 2D Digital Subtraction Angiography (DSA) is limited by the absence of depth…
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…