相关论文: VascularPilot3D: Toward a 3D fully autonomous navi…
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…
Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots…
Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…
The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system…
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
3D microscopic cerebrovascular images are characterized by their high resolution, presenting significant annotation challenges, large data volumes, and intricate variations in detail. Together, these factors make achieving high-quality,…
In this article, we present the work towards improving the overall workflow of the Percutaneous Coronary Interventions (PCI) procedures by capacitating the imaging instruments to precisely monitor the steps of the procedure. In the long…
Three-dimensional (3D) technologies have been developing rapidly recent years, and have influenced industrial, medical, cultural, and many other fields. In this paper, we introduce an automatic 3D human head scanning-printing system, which…
In recent years, autonomous driving has garnered escalating attention for its potential to relieve drivers' burdens and improve driving safety. Vision-based 3D occupancy prediction, which predicts the spatial occupancy status and semantics…
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critical role, successful vascular access remains challenging due…
The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
While commendable progress has been made in user-centric research on mobile assistive systems for blind and low-vision (BLV) individuals, references that directly inform robot navigation design remain rare. To bridge this gap, we conducted…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
For autonomous skill acquisition, robots have to learn about the physical rules governing the 3D world dynamics from their own past experience to predict and reason about plausible future outcomes. To this end, we propose a…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…