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Recently, a time-varying quadratic programming (QP) framework that describes the tracking operations of redundant robot manipulators is introduced to handle the kinematic resolutions of many robot control tasks. Based on the generalization…

Planes are generally used in 3D reconstruction for depth sensors, such as RGB-D cameras and LiDARs. This paper focuses on the problem of estimating the optimal planes and sensor poses to minimize the point-to-plane distance. The resulting…

Minutia-based palmprint recognition systems has got lots of interest in last two decades. Due to the large number of minutiae in a palmprint, approximately 1000 minutiae, the matching process is time consuming which makes it unpractical for…

In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…

Small animal PET scanners require high spatial resolution and good sensitivity. To reconstruct high-resolution images in 3D-PET, iterative methods, such as OSEM, are superior to analytical reconstruction algorithms, although their high…

This work presents an approach for automating the discretization and approximation procedures in constructing digital representations of composites from Micro-CT images featuring intricate microstructures. The proposed method is guided by…

Popular 3D scan registration projects, such as Stanford digital Michelangelo or KinectFusion, exploit the high-resolution sensor data for scan alignment. It is particularly challenging to solve the registration of sparse 3D scans in the…

In this article we propose a novel nonstationary iterated Tikhonov (NIT) type method for obtaining stable approximate solutions to ill-posed operator equations modeled by linear operators acting between Hilbert spaces. Geometrical…

We introduce SparseVM, a method that registers clinical-quality 3D MR scans both faster and more accurately than previously possible. Deformable alignment, or registration, of clinical scans is a fundamental task for many clinical…

All current non-rigid structure from motion (NRSfM) algorithms are limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

Reduced modeling of a computationally demanding dynamical system aims at approximating its trajectories, while optimizing the trade-off between accuracy and computational complexity. In this work, we propose to achieve such an approximation…

We propose a new approach for non-Cartesian magnetic resonance image reconstruction. While unrolled architectures provide robustness via data-consistency layers, embedding measurement operators in Deep Neural Network (DNN) can become…

We propose PR-RRN, a novel neural-network based method for Non-rigid Structure-from-Motion (NRSfM). PR-RRN consists of Residual-Recursive Networks (RRN) and two extra regularization losses. RRN is designed to effectively recover 3D shape…

A long-standing challenge in tomography is the 'missing wedge' problem, which arises when the acquisition of projection images within a certain angular range is restricted due to geometrical constraints. This incomplete dataset results in…

2D/3D image registration to align a 3D volume and 2D X-ray images is a challenging problem due to its ill-posed nature and various artifacts presented in 2D X-ray images. In this paper, we propose a multi-agent system with an auto attention…

Applying standard algorithms to sparse data problems in photoacoustic tomography (PAT) yields low-quality images containing severe under-sampling artifacts. To some extent, these artifacts can be reduced by iterative image reconstruction…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20$\%$ of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity information. Accurate extrinsic calibration between millimeter-wave…

Multi-view registration is a fundamental but challenging problem in 3D reconstruction and robot vision. Although the original motion averaging algorithm has been introduced as an effective means to solve the multi-view registration problem,…