相关论文: Orientation Matters: 6-DoF Autonomous Camera Movem…

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…

Event cameras are promising devices for lowlatency tracking and high-dynamic range imaging. In this paper,we propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based…

Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing path planning methods for auxiliary cameras track…

Six degrees-of-freedom (6-DoF) video provides telepresence by enabling users to move around in the captured scene with a wide field of regard. Compared to methods requiring sophisticated camera setups, the image-based rendering method based…

Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…

Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…

Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…

Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise,…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

This paper presents two visual trackers from the different paradigms of learning and registration based tracking and evaluates their application in image based visual servoing. They can track object motion with four degrees of freedom (DoF)…

Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

Traditional 3D mesh saliency detection algorithms and corresponding databases were proposed under several constraints such as providing limited viewing directions and not taking the subject's movement into consideration. In this work, a…

In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…