相关论文: STITCH: Augmented Dexterity for Suture Throws Incl…
Recovering a dense 3D body mesh from monocular video remains challenging under occlusion from draping and continuously moving camera viewpoints. This configuration arises in surgical augmented reality (AR), where an anesthetized patient…
When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…
The STrauss process is a point process with unnormalized density with respect to a Poisson point process, where each pair of points within a specified distance $r$ of each other contributes a factor $\lambda \in (0, 1)$ to the density.…
Natural image stitching aims to create a single, natural-looking mosaic from overlapped images that capture the same 3D scene from different viewing positions. Challenges inevitably arise when the scene is non-planar and captured by…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
This paper addresses the task of 3D pose estimation for a hand interacting with an object from a single image observation. When modeling hand-object interaction, previous works mainly exploit proximity cues, while overlooking the dynamical…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…
In conventional electronic video stabilization, the stabilized frame is obtained by cropping the input frame to cancel camera shake. While a small cropping size results in strong stabilization, it does not provide us satisfactory results…
Traditional approaches to neuroevolution often start from scratch. This becomes prohibitively expensive in terms of computational and data requirements when targeting modern, deep neural networks. Using a warm start could be highly…
Trampoline gymnastics involves extreme human poses and uncommon viewpoints, on which state-of-the art pose estimation models tend to under-perform. We demonstrate that this problem can be addressed by fine-tuning a pose estimation model on…
Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose an intermittent synchronization with the extrema of the…
Human body fitting, which aligns parametric body models such as SMPL to raw 3D point clouds of clothed humans, serves as a crucial first step for downstream tasks like animation and texturing. An effective fitting method should be both…
Chinese acupuncture practitioners primarily depend on muscle memory and tactile feedback to insert needles and accurately target acupuncture points, as the current workflow lacks imaging modalities and visual aids. Consequently, new…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…
Purpose. Precise placement of needles is a challenge in a number of clinical applications such as brachytherapy or biopsy. Forces acting at the needle cause tissue deformation and needle deflection which in turn may lead to misplacement or…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Through capturing spatial and angular radiance distribution, light field cameras introduce new capabilities that are not possible with conventional cameras. So far in the light field imaging literature, the focus has been on the theory and…
Ultrasound technology enables safe, non-invasive imaging of dynamic tissue behavior, making it a valuable tool in medicine, biomechanics, and sports science. However, accurately tracking tissue motion in B-mode ultrasound remains…