相关论文: Controlling camera movement in VR colonography
This paper presents a NeRF-based framework for point cloud (PCD) reconstruction, specifically designed for indoor high-throughput plant phenotyping facilities. Traditional NeRF-based reconstruction methods require cameras to move around…
Some recent visual-based relocalization algorithms rely on deep learning methods to perform camera pose regression from image data. This paper focuses on the loss functions that embed the error between two poses to perform deep learning…
In endoscopic surgery, surgeons continuously locate the endoscopic view relative to the anatomy by interpreting the evolving visual appearance of the intraoperative scene in the context of their prior knowledge. Vision-based navigation…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
In conventional 2D DCE-US, motion correction algorithms take advantage of accompanying side-by-side anatomical Bmode images that contain time-stable features. However, current commercial models of 3D DCE-US do not provide side-by-side Bmode…
This paper introduces SHIELD, a Spherical-Projection Hybrid-Frontier Integration for Efficient LiDAR-based Drone exploration method. Although laser LiDAR offers the advantage of a wide field of view, its application in UAV exploration still…
Accurate 3D reconstruction of colonoscopy data, accounting for complex peristaltic movements, is crucial for advanced surgical navigation and retrospective diagnostics. While recent novel view synthesis and 3D reconstruction methods have…
Image goal navigation requires two different skills: firstly, core navigation skills, including the detection of free space and obstacles, and taking decisions based on an internal representation; and secondly, computing directional…
Neural field-based 3D representations have recently been adopted in many areas including SLAM systems. Current neural SLAM or online mapping systems lead to impressive results in the presence of simple captures, but they rely on a…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic interventions. A novel method is introduced that learns to augment a surgeon's behavior in image space…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
Monocular visual simultaneous localization and mapping (V-SLAM) is nowadays an irreplaceable tool in mobile robotics and augmented reality, where it performs robustly. However, human colonoscopies pose formidable challenges like occlusions,…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structural mapping approach for RGB-D VSLAM that…
Photomechanics is a crucial branch of solid mechanics. The localization of point targets constitutes a fundamental problem in optical experimental mechanics, with extensive applications in various missions of UAVs. Localizing moving targets…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…
A recently developed Projection-based Digital Image Correlation (P-DVC) method is here extended to 4D (space and time) displacement field measurement and mechanical identification based on a single radiograph per loading step instead of…
Image-to-point cloud registration aims to determine the relative camera pose of an RGB image with respect to a point cloud. It plays an important role in camera localization within pre-built LiDAR maps. Despite the modality gaps, most…