相关论文: Visual-Haptic Model Mediated Teleoperation for Rem…
Mid-air haptics create a new mode of feedback to allow people to feel tactile sensations in the air. Ultrasonic arrays focus acoustic radiation pressure in space, to induce tactile sensation from the resulting skin deflection. In this work,…
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
Frame rate is a crucial consideration in cardiac ultrasound imaging and 3D sonography. Several methods have been proposed in the medical ultrasound literature aiming at accelerating the image acquisition. In this paper, we consider one such…
We present an automatic method to describe clinically useful information about scanning, and to guide image interpretation in ultrasound (US) videos of the fetal heart. Our method is able to jointly predict the visibility, viewing plane,…
As robot teleoperation increasingly becomes integral in executing tasks in distant, hazardous, or inaccessible environments, the challenge of operational delays remains a significant obstacle. These delays are inherent in signal…
In 2013, the UltraHaptics system demonstrated that focused ultrasound could generate perceivable mid-air tactile sensations, building on earlier explorations of airborne ultrasound as a haptic medium. These contributions established…
Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. However, due to anatomical and physiological variations…
Recently, there has been a surge in research in multimodal machine translation (MMT), where additional modalities such as images are used to improve translation quality of textual systems. A particular use for such multimodal systems is the…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Visual transformers have driven major progress in remote sensing image analysis, particularly in object detection and segmentation. Recent vision-language and multimodal models further extend these capabilities by incorporating auxiliary…
Pseudo-haptic techniques are becoming increasingly popular in human-computer interaction. They replicate haptic sensations by leveraging primarily visual feedback rather than mechanical actuators. These techniques bridge the gap between the…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories…
In recent years, a variety of ML architectures and techniques have seen success in producing skillful medium range weather forecasts. In particular, Vision Transformer (ViT)-based models (e.g. Pangu-Weather, FuXi) have shown strong…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Robotic ultrasound systems can enhance medical diagnostics, but patient acceptance is a challenge. We propose a system combining an AI-powered conversational virtual agent with three mixed reality visualizations to improve trust and…
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode,…
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…
We present a robust method to correct for motion and deformations for in-utero volumetric MRI time series. Spatio-temporal analysis of dynamic MRI requires robust alignment across time in the presence of substantial and unpredictable…