相关论文: Motion-Aware Robotic 3D Ultrasound

Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…

Ultrasound (US) imaging is one of the most commonly used non-invasive imaging techniques. However, US image acquisition requires simultaneous guidance of the transducer and interpretation of images, which is a highly challenging task that…

Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

Freehand three-dimensional ultrasound (3D-US) has gained considerable interest in research, but even today suffers from its high inter-operator variability in clinical practice. The high variability mainly arises from tracking inaccuracies…

Ultrasound (US) imaging is widely employed for diagnosis and staging of peripheral vascular diseases (PVD), mainly due to its high availability and the fact it does not emit radiation. However, high inter-operator variability and a lack of…

Thanks to its capability of acquiring full-view frames at multiple kilohertz, ultrafast ultrasound imaging unlocked the analysis of rapidly changing physical phenomena in the human body, with pioneering applications such as ultrasensitive…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

With the emergence of swept-volume ultrasound (US) probes, precise and almost real-time US volume imaging has become available. This offers many new opportunities for computer guided diagnosis and therapy, 3-D images containing…

In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…

We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…

Patient motion is well-known for degrading image quality during medical imaging. Especially positron emission tomography (PET) is susceptible to motion due to its usually long scan times. In hybrid PET/MRI (magnetic resonance imaging),…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Three-dimensional (3D) ultrasound (US) imaging addresses the limitation in field-of-view (FOV) in conventional two-dimensional (2D) US imaging by providing 3D viewing of the anatomy. 3D US imaging has been extensively adapted for diagnosis…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Prostate cancer is one of the most common types of cancer in men. Its diagnosis by biopsy requires a high level of expertise and precision from the surgeon, so the results are highly operator-dependent. The aim of this work is to develop a…