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Inertial sensors can track object kinematics, however, unbounded drift from integrating noisy signals makes them impractical for MRI motion correction at millimeter resolution and minute-long scans. We introduce MR-Compass, which exploits…
Iterative methods for tomographic image reconstruction have great potential for enabling high quality imaging from low-dose projection data. The computational burden of iterative reconstruction algorithms, however, has been an impediment in…
Ultra low radiation dose in X-ray Computed Tomography (CT) is an important clinical objective in order to minimize the risk of carcinogenesis. Compressed Sensing (CS) enables significant reductions in radiation dose to be achieved by…
Reconstructing dynamic, time-varying scenes with computed tomography (4D-CT) is a challenging and ill-posed problem common to industrial and medical settings. Existing 4D-CT reconstructions are designed for sparse sampling schemes that…
Automatic motion compensation and adjustment of an intraoperative imaging modality's field of view is a common problem during interventions. Optical coherence tomography (OCT) is an imaging modality which is used in interventions due to its…
The reconstruction of sparse signal is an active area of research. Different from a typical i.i.d. assumption, this paper considers a non-independent prior of group structure. For this more practical setup, we propose EM-aided HyGEC, a new…
Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…
Reconstructing a 3D scene from unordered images is pivotal in computer vision and robotics, with applications spanning crowd-sourced mapping and beyond. While global Structure-from-Motion (SfM) techniques are scalable and fast, they often…
Purpose: Cone-beam CT (CBCT) plays an important role in image guided radiation therapy (IGRT). However, the large radiation dose from serial CBCT scans in most IGRT procedures raises a clinical concern, especially for pediatric patients who…
This work introduces a computational framework for applying absolute electrical impedance tomography to head imaging without accurate information on the head shape or the electrode positions. A library of fifty heads is employed to build a…
Subject motion in whole-body dynamic PET introduces inter-frame mismatch and seriously impacts parametric imaging. Traditional non-rigid registration methods are generally computationally intense and time-consuming. Deep learning approaches…
Efficient and fast reconstruction of anatomical structures plays a crucial role in clinical practice. Minimizing retrieval and processing times not only potentially enhances swift response and decision-making in critical scenarios but also…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Nonrigid point set registration is widely applied in the tasks of computer vision and pattern recognition. Coherent point drift (CPD) is a classical method for nonrigid point set registration. However, to solve spatial transformation…
Embedded vision systems need efficient and robust image processing algorithms to perform real-time, with resource-constrained hardware. This research investigates image processing algorithms, specifically edge detection, corner detection,…
Computerized tomography (CT) has been used for decades by medical professionals to detect and diagnose injuries and ailments. CT scanners are based on interesting physics, but due to their bulk, cost, and safety, hands on experience with a…
Various methods have been proposed to enhance image quality in ultrafast ultrasound. Coherent compounding can improve image quality using multiple steered diverging transmits when motion occurring between transmits is corrected for.…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…