相关论文: STITCH: Augmented Dexterity for Suture Throws Incl…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Agricultural imaging often requires individual images to be stitched together into a final mosaic for analysis. However, agricultural images can be particularly challenging to stitch because feature matching across images is difficult due…

Trendy suggestions for learning-based elastic warps enable the deep image stitchings to align images exposed to large parallax errors. Despite the remarkable alignments, the methods struggle with occasional holes or discontinuity between…

Current architectures are now equipped with matrix computation units designed to enhance AI and high-performance computing applications. Within these architectures, two fundamental instruction types are matrix multiplication and vector…

3D hand pose estimation has found broad application in areas such as gesture recognition and human-machine interaction tasks. As performance improves, the complexity of the systems also increases, which can limit the comparative analysis…

Stitching images acquired under perspective projective geometry is a relevant topic in computer vision with multiple applications ranging from smartphone panoramas to the construction of digital maps. Image stitching is an equally prominent…

In the era of Industry 5.0, monitoring human activity is essential for ensuring both ergonomic safety and overall well-being. While multi-camera centralized setups improve pose estimation accuracy, they often suffer from high computational…

The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…

In the context of computer assist surgical techniques, a new elastic registration method of 3D meshes is presented. In our applications, one mesh is a high density mesh (30000 vertexes), the second is a low density one (1000 vertexes).…

Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guides the gripper toward some specific pick-up point for proper…

We present a new meshing algorithm called guided and augmented meshing, GAMesh, which uses a mesh prior to generate a surface for the output points of a point network. By projecting the output points onto this prior and simplifying the…

Model stitching (Lenc & Vedaldi 2015) is a compelling methodology to compare different neural network representations, because it allows us to measure to what degree they may be interchanged. We expand on a previous work from Bansal,…

Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…

In this work, we introduce the Virtual In-Hand Eye Transformer (VIHE), a novel method designed to enhance 3D manipulation capabilities through action-aware view rendering. VIHE autoregressively refines actions in multiple stages by…

3D hand pose estimation has garnered great attention in recent years due to its critical applications in human-computer interaction, virtual reality, and related fields. The accurate estimation of hand joints is essential for high-quality…

Hand pose estimation from 3D depth images, has been explored widely using various kinds of techniques in the field of computer vision. Though, deep learning based method improve the performance greatly recently, however, this problem still…

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…

Dynamic program slicing can significantly reduce the code developers need to inspect by narrowing it down to only a subset of relevant program statements. However, despite an extensive body of research showing its usefulness, dynamic…

Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…

Low-textured image stitching remains a challenging problem. It is difficult to achieve good alignment and it is easy to break image structures due to insufficient and unreliable point correspondences. Moreover, because of the viewpoint…