相关论文: SurgPose: Generalisable Surgical Instrument Pose E…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

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…

Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes, presenting significant challenges for model generalizability. Fortunately, the recent Segment Anything Model (SAM) has…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Imitation learning (IL) has shown immense promise in enabling autonomous dexterous manipulation, including learning surgical tasks. To fully unlock the potential of IL for surgery, access to clinical datasets is needed, which unfortunately…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…

Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the…

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and…

Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision language models show remarkable zero-shot capabilities. In this…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…