相关论文: Motion-Aware Robotic 3D Ultrasound
3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…
Active-stereo-based 3D shape measurement is crucial for various purposes, such as industrial inspection, reverse engineering, and medical systems, due to its strong ability to accurately acquire the shape of textureless objects. Active…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Ultrasound (US) is widely used for clinical imaging applications thanks to its real-time and non-invasive nature. However, its lesion detectability is often limited in many applications due to the phase aberration artefact caused by…
The aim of this work is to implement a simple freehand ultrasound (US) probe calibration technique. This will enable us to visualize US image data during surgical procedures using augmented reality. The performance of the system was…
Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…
3D Gaussian Splatting (3DGS) has gained significant attention due to its high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…
Computer vision is largely based on 2D techniques, with 3D vision still relegated to a relatively narrow subset of applications. However, by building on recent advances in 3D models such as neural radiance fields, some authors have shown…
We present an unsupervised framework for simultaneous appearance-based object discovery, detection, tracking and reconstruction using RGBD cameras and a robot manipulator. The system performs dense 3D simultaneous localization and mapping…
To facilitate diagnosis on cardiac ultrasound (US), clinical practice has established several standard views of the heart, which serve as reference points for diagnostic measurements and define viewports from which images are acquired.…
Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…
Motion-controllable image animation is a fundamental task with a wide range of potential applications. Recent works have made progress in controlling camera or object motion via various motion representations, while they still struggle to…
Three-dimensional (3D) freehand ultrasound (US) reconstruction without a tracker can be advantageous over its two-dimensional or tracked counterparts in many clinical applications. In this paper, we propose to estimate 3D spatial…
Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…
Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making.…