相关论文: A Robotic 3D Perception System for Operating Room …

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

Accurate segmentation and tracking of relevant elements of the surgical scene is crucial to enable context-aware intraoperative assistance and decision making. Current solutions remain tethered to domain-specific, supervised models that…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

Multi-organ segmentation is one of most successful applications of deep learning in medical image analysis. Deep convolutional neural nets (CNNs) have shown great promise in achieving clinically applicable image segmentation performance on…

Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…

The image annotation stage is a critical and often the most time-consuming part required for training and evaluating object detection and semantic segmentation models. Deployment of the existing models in novel environments often requires…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Purpose: Surgical scene understanding is key to advancing computer-aided and intelligent surgical systems. Current approaches predominantly rely on visual data or end-to-end learning, which limits fine-grained contextual modeling. This work…

The operating room (OR) is an environment of interest for the development of sensing systems, enabling the detection of people, objects, and their semantic relations. Due to frequent occlusions in the OR, these systems often rely on input…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

Sensing surroundings plays a crucial role in human spatial perception, as it extracts the spatial configuration of objects as well as the free space from the observations. To facilitate the robot perception with such a surrounding sensing…

Modern surgeries are performed in complex and dynamic settings, including ever-changing interactions between medical staff, patients, and equipment. The holistic modeling of the operating room (OR) is, therefore, a challenging but essential…

As the scene information, including objectness and scene type, are important for people with visual impairment, in this work we present a multi-task efficient perception system for the scene parsing and recognition tasks. Building on the…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…