相关论文: Motion-Aware Robotic 3D Ultrasound

Motion artifacts often spoil the radiological interpretation of MR images, and in the most severe cases the scan needs be repeated, with additional costs for the provider. We discuss the application of a novel 3D retrospective rigid motion…

We propose a method for jointly estimating the 3D motion, 3D shape, and appearance of highly motion-blurred objects from a video. To this end, we model the blurred appearance of a fast moving object in a generative fashion by parametrizing…

Magnetic resonance imaging (MRI) is highly susceptible to patient motion due to its relatively long acquisition times and the fact that data are acquired sequentially in k-space. Even small patient movements introduce phase inconsistencies…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

We present HUP-3D, a 3D multi-view multi-modal synthetic dataset for hand-ultrasound (US) probe pose estimation in the context of obstetric ultrasound. Egocentric markerless 3D joint pose estimation has potential applications in mixed…

2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D…

Three-dimensional Ultrasound image segmentation methods are surveyed in this paper. The focus of this report is to investigate applications of these techniques and a review of the original ideas and concepts. Although many two-dimensional…

Human motion prediction is consisting in forecasting future body poses from historically observed sequences. It is a longstanding challenge due to motion's complex dynamics and uncertainty. Existing methods focus on building up complicated…

Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…

This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

The human ability to detect and segment moving objects works in the presence of multiple objects, complex background geometry, motion of the observer, and even camouflage. In addition to all of this, the ability to detect motion is nearly…

Reshaping accurate and realistic 3D human bodies from anthropometric parameters (e.g., height, chest size, etc.) poses a fundamental challenge for person identification, online shopping and virtual reality. Existing approaches for creating…

Incorporating temporal information effectively is important for accurate 3D human motion estimation and generation which have wide applications from human-computer interaction to AR/VR. In this paper, we present MoManifold, a novel human…

Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…

We address the problem of human motion tracking by registering a surface to 3-D data. We propose a method that iteratively computes two things: Maximum likelihood estimates for both the kinematic and free-motion parameters of a kinematic…

Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…