相关论文: Model-Based Pose Estimation of Steerable Catheters…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…

This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…

Fluoroscopic imaging that captures X-ray images at video framerates is advantageous for guiding catheter insertions by vascular surgeons and interventional radiologists. Visualizing the dynamical movements non-invasively allows complex…

Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…

Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…

The concept of compressive sensing was recently proposed to significantly reduce the electron dose in scanning transmission electron microscopy (STEM) while still maintaining the main features in the image. Here, an experimental setup based…

Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…

We introduce Fiducial Exoskeletons, an image-based reformulation of 3D robot state estimation that replaces cumbersome procedures and motor-centric pipelines with single-image inference. Traditional approaches - especially robot-camera…

In this contribution, a software system for computer-aided position planning of miniplates to treat facial bone defects is proposed. The intra-operatively used bone plates have to be passively adapted on the underlying bone contours for…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

This paper proposes a novel approach to reconstruct changes in a target conductivity from electrical impedance tomography measurements. As in the conventional difference imaging, the reconstruction of the conductivity change is based on…

We propose a human pose estimation framework that solves the task in the regression-based fashion. Unlike previous regression-based methods, which often fall behind those state-of-the-art methods, we formulate the pose estimation task into…

Beamforming in ultrasound imaging has significant impact on the quality of the final image, controlling its resolution and contrast. Despite its low spatial resolution and contrast, delay-and-sum is still extensively used nowadays in…

Dynamic radiographic measurement of 3D TKA kinematics has provided important information for implant design and surgical technique for over 30 years. However, current methods of measuring TKA kinematics are too cumbersome or time-consuming…

Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities;…

This paper addresses the problem of mirror surface reconstruction, and proposes a solution based on observing the reflections of a moving reference plane on the mirror surface. Unlike previous approaches which require tedious calibration,…

The use of a feedback motion plan instead of the decoupled scheme consisting of separate plan and control phases can facilitate the task of proving the properties of an autonomous system. The advantage of using a feedback motion plan is the…