相关论文: Autonomous Image-to-Grasp Robotic Suturing Using R…
The microstructure analyses of porous media have considerable research value for the study of macroscopic properties. As the premise of conducting these analyses, the accurate reconstruction of microstructure digital model is also an…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
High-quality 3D garment reconstruction plays a crucial role in mitigating the sim-to-real gap in applications such as digital avatars, virtual try-on and robotic manipulation. However, existing garment reconstruction methods typically rely…
Autonomy in robot-assisted surgery is essential to reduce surgeons' cognitive load and eventually improve the overall surgical outcome. A key requirement for autonomy in a safety-critical scenario as surgery lies in the generation of…
Grasp synthesis is a fundamental task in robotic manipulation which usually has multiple feasible solutions. Multimodal grasp synthesis seeks to generate diverse sets of stable grasps conditioned on object geometry, making the robust…
Neural implicit representations have become a popular choice for modeling surfaces due to their adaptability in resolution and support for complex topology. While previous works have achieved impressive reconstruction quality by training on…
Reconstructing surgical scenes from monocular endoscopic video is critical for advancing robotic-assisted surgery. However, the application of state-of-the-art general-purpose reconstruction models is constrained by two key challenges: the…
Autoencoders learn data representations through reconstruction. Robust training is the key factor affecting the quality of the learned representations and, consequently, the accuracy of the application that use them. Previous works…
Automatic Image Cropping is a challenging task with many practical downstream applications. The task is often divided into sub-problems - generating cropping candidates, finding the visually important regions, and determining aesthetics to…
Minimally Invasive Surgery (MIS) techniques have gained rapid popularity among surgeons since they offer significant clinical benefits including reduced recovery time and diminished post-operative adverse effects. However, conventional…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Synthetic aperture sonar (SAS) measures a scene from multiple views in order to increase the resolution of reconstructed imagery. Image reconstruction methods for SAS coherently combine measurements to focus acoustic energy onto the scene.…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Synthetic aperture sonar (SAS) requires precise positional and environmental information to produce well-focused output during the image reconstruction step. However, errors in these measurements are commonly present resulting in defocused…
Robot-guided catheter insertion has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate and reliable segmentation of anatomical landmarks in the body.…
We present an adaptive sampling approach to 3D reconstruction of the welding joint using the point cloud that is generated by a laser sensor. We start with a randomized strategy to approximate the surface of the volume of interest through…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
In this paper, we propose a computational framework for 3D volume reconstruction from 2D histological slices using registration algorithms in feature space. To improve the quality of reconstructed 3D volume, first, intensity variations in…