相关论文: Camera Travel for Immersive Colonography

Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…

Deducing the 3D structure of endoscopic scenes from images is exceedingly challenging. In addition to deformation and view-dependent lighting, tubular structures like the colon present problems stemming from their self-occluding and…

Limbed climbing robots are designed to explore challenging vertical walls, such as the skylights of the Moon and Mars. In such robots, the primary role of a hand-eye camera is to accurately estimate 3D positions of graspable points (i.e.,…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

New sensing technologies and more advanced processing algorithms are transforming computer-integrated surgery. While researchers are actively investigating depth sensing and 3D reconstruction for vision-based surgical assistance, it remains…

Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…

We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…

Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…

Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master this flight skill in simulation, where a neural network…

Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…

UAV tracking and pose estimation plays an imperative role in various UAV-related missions, such as formation control and anti-UAV measures. Accurately detecting and tracking UAVs in a 3D space remains a particularly challenging problem, as…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

The in vitro clonogenic assay is a technique to study the ability of a cell to form a colony in a culture dish. By optical imaging, dishes with stained colonies can be scanned and assessed digitally. Identification, segmentation and…

Neural field-based 3D representations have recently been adopted in many areas including SLAM systems. Current neural SLAM or online mapping systems lead to impressive results in the presence of simple captures, but they rely on a…

Laboratory made granular-granular impact craters have been used as model analogues of planetary impact craters. These kind of craters have been observed and studied using profilometry techniques that allow to retrieve important morphologic…

This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…

Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…