相关论文: Planning Sensing Sequences for Subsurface 3D Tumor…

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…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Whether it is object detection, model reconstruction, laser odometry, or point cloud registration: Plane extraction is a vital component of many robotic systems. In this paper, we propose a strictly probabilistic method to detect finite…

A novel and highly efficient computational framework for reconstructing binary-type images suitable for models of various complexity seen in diverse biomedical applications is developed and validated. Efficiency in computational speed and…

Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…

Optimized sensing is important for computational imaging in low-resource environments, when images must be recovered from severely limited measurements. In this paper, we propose a physics-constrained, fully differentiable, autoencoder that…

Medical imaging is an essential tool in many areas of medical applications, used for both diagnosis and treatment. However, reading medical images and making diagnosis or treatment recommendations require specially trained medical…

In this paper, we propose sparse coding-based approaches for segmentation of tumor regions from MR images. Sparse coding with data-adapted dictionaries has been successfully employed in several image recovery and vision problems. The…

3D medical image segmentation is a challenging task with crucial implications for disease diagnosis and treatment planning. Recent advances in deep learning have significantly enhanced fully supervised medical image segmentation. However,…

Radiologists often mix medical image reading strategies, including inspection of individual modalities and local image regions, using information at different locations from different images independently as well as concurrently. In this…

Gastric cancer is one of the most common cancers, which ranks third among the leading causes of cancer death. Biopsy of gastric mucosa is a standard procedure in gastric cancer screening test. However, manual pathological inspection is…

Automatic brain tumor segmentation method plays an extremely important role in the whole process of brain tumor diagnosis and treatment. In this paper, we propose a multi-step cascaded network which takes the hierarchical topology of the…

Magnetic Resonance Imaging (MRI) is the most commonly used non-intrusive technique for medical image acquisition. Brain tumor segmentation is the process of algorithmically identifying tumors in brain MRI scans. While many approaches have…

Automated brain tumour segmentation has the potential of making a massive improvement in disease diagnosis, surgery, monitoring and surveillance. However, this task is extremely challenging. Here, we describe our automated segmentation…

Any image recovery algorithm attempts to achieve the highest quality reconstruction in a timely manner. The former can be achieved in several ways, among which are by incorporating Bayesian priors that exploit natural image tendencies to…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Ultrasound (US) is the most commonly used liver imaging modality worldwide. It plays an important role in follow-up of cancer patients with liver metastases. We present an interactive segmentation approach for liver tumors in US…

In robotic laser surgery, shape prediction of an one-shot ablation cavity is an important problem for minimizing errant overcutting of healthy tissue during the course of pathological tissue resection and precise tumor removal. Since it is…