相关论文: Controlling camera movement in VR colonography

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…

This contribution shows how an appropriate image pre-processing can improve a deep-learning based 3D reconstruction of colon parts. The assumption is that, rather than global image illumination corrections, local under- and over-exposures…

Drone-based remote sensing combined with AI-driven methodologies has shown great potential for accurate mapping and monitoring of coral reef ecosystems. This study presents a novel multi-scale approach to coral reef monitoring, integrating…

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…

Gaze interaction presents a promising avenue in Virtual Reality (VR) due to its intuitive and efficient user experience. Yet, the depth control inherent in our visual system remains underutilized in current methods. In this study, we…

Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…

Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Visualizing colonoscopy is crucial for medical auxiliary diagnosis to prevent undetected polyps in areas that are not fully observed. Traditional feature-based and depth-based reconstruction approaches usually end up with undesirable…

This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly, this research is tailored to classical agents with…

Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…

This paper develops a method to use RGB-D cameras to track the motions of a human spinal cord injury patient undergoing spinal stimulation and physical rehabilitation. Because clinicians must remain close to the patient during training…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…

Active surgical robots lack acceptance in clinical practice, because they do not offer the flexibility and usability required for a versatile usage: the systems require a large installation space or a complicated registration step, where…

We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…

3D human pose estimation in multi-view operating room (OR) videos is a relevant asset for person tracking and action recognition. However, the surgical environment makes it challenging to find poses due to sterile clothing, frequent…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

In this paper, we present DM-Calib, a diffusion-based approach for estimating pinhole camera intrinsic parameters from a single input image. Monocular camera calibration is essential for many 3D vision tasks. However, most existing methods…

Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…