相关论文: LMap: Shape-Preserving Local Mappings for Biomedic…

In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…

Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…

In this paper we propose a novel method for image matching based on dense local features and tailored for visual geolocalization. Dense local features matching is robust against changes in illumination and occlusions, but not against…

Estimating accurate high-dimensional transformations remains very challenging, especially in a clinical setting. In this paper, we introduce a multiscale parameterization of deformations to enhance registration and atlas estimation in the…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

Nonlinear dimensionality reduction techniques, particularly UMAP, are widely used for visualizing high-dimensional data. However, UMAP's local Euclidean distance assumption often fails to capture intrinsic manifold geometry, leading to…

Classical unsupervised learning methods like clustering and linear dimensionality reduction parametrize large-scale geometry when it is discrete or linear, while more modern methods from manifold learning find low dimensional representation…

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

It is a key to construct a similarity graph in graph-oriented subspace learning and clustering. In a similarity graph, each vertex denotes a data point and the edge weight represents the similarity between two points. There are two popular…

Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…

Owing to the advances in computational techniques and the increase in computational power, atomistic simulations of materials can simulate large systems with higher accuracy. Complex phenomena can be observed in such state-of-the-art…

Deformable image registration estimates voxel-wise correspondences between images through spatial transformations, and plays a key role in medical imaging. While deep learning methods have significantly reduced runtime, efficiently handling…

In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…

Many existing learning-based deformable image registration methods impose constraints on deformation fields to ensure they are globally smooth and continuous. However, this assumption does not hold in cardiac image registration, where…

Image registration between histology and magnetic resonance imaging (MRI) is a challenging task due to differences in structural content and contrast. Too thick and wide specimens cannot be processed all at once and must be cut into smaller…

Face recognition remains a challenging task in unconstrained scenarios, especially when faces are partially occluded. To improve the robustness against occlusion, augmenting the training images with artificial occlusions has been proved as…

Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors,…

Visual odometry estimates the motion of a moving camera based on visual input. Existing methods, mostly focusing on two-view point tracking, often ignore the rich temporal context in the image sequence, thereby overlooking the global motion…

Change detection, i.e., anomaly detection from local maps built by a mobile robot at multiple different times, is a challenging problem to solve in practice. Most previous work either cannot be applied to scenarios where the size of the map…

We present a novel approach enabling interactive visualization of volumetric Locally Refined B-splines (LR-splines). To this end we propose a highly efficient algorithm for direct visualization of scalar and vector fields given by an…