相关论文: Internal Organ Localization Using Depth Images

Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Deformable registration of two-dimensional/three-dimensional (2D/3D) images of abdominal organs is a complicated task because the abdominal organs deform significantly and their contours are not detected in two-dimensional X-ray images. We…

Deep learning techniques have successfully been employed in numerous computer vision tasks including image segmentation. The techniques have also been applied to medical image segmentation, one of the most critical tasks in computer-aided…

The fine-grained surface reconstruction of different organs from 3D medical imaging can provide advanced diagnostic support and improved surgical planning. However, the representation of the organs is often limited by the resolution, with a…

Automatic localization and labeling of vertebra in 3D medical images plays an important role in many clinical tasks, including pathological diagnosis, surgical planning and postoperative assessment. However, the unusual conditions of…

Screening mammograms are a routine imaging exam performed to detect breast cancer in its early stages to reduce morbidity and mortality attributed to this disease. In order to maximize the efficacy of breast cancer screening programs,…

Deep learning has recently gained high interest in ophthalmology, due to its ability to detect clinically significant features for diagnosis and prognosis. Despite these significant advances, little is known about the ability of various…

Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…

Image registration is an ill-posed inverse problem which often requires regularisation on the solution space. In contrast to most of the current approaches which impose explicit regularisation terms such as smoothness, in this paper we…

Stem cell-derived organoids are a promising tool to model native human tissues as they resemble human organs functionally and structurally compared to traditional monolayer cell-based assays. For instance, colon organoids can spontaneously…

Background: Automated analysis of CT scans for abdominal organ measurement is crucial for improving diagnostic efficiency and reducing inter-observer variability. Manual segmentation and measurement of organs such as the kidneys, liver,…

Autonomous ultrasound (US) acquisition is an important yet challenging task, as it involves interpretation of the highly complex and variable images and their spatial relationships. In this work, we propose a deep reinforcement learning…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Object detection from RGB images is a long-standing problem in image processing and computer vision. It has applications in various domains including robotics, surveillance, human-computer interaction, and medical diagnosis. With the…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

Medical imaging plays a vital role in modern diagnostics; however, interpreting high-resolution radiological data remains time-consuming and susceptible to variability among clinicians. Traditional image processing techniques often lack the…