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

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Consistent surgical instrument segmentation is critical for automation in robot-assisted surgery. Yet, existing methods only treat instrument-level instance segmentation (IIS) or part-level semantic segmentation (PSS) separately, without…

In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration.…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

One-shot medical image segmentation (MIS) is crucial for medical analysis due to the burden of medical experts on manual annotation. The recent emergence of the segment anything model (SAM) has demonstrated remarkable adaptation in MIS but…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

Localisation of surgical tools constitutes a foundational building block for computer-assisted interventional technologies. Works in this field typically focus on training deep learning models to perform segmentation tasks. Performance of…

6D pose estimation from a single RGB image is a challenging and vital task in computer vision. The current mainstream deep model methods resort to 2D images annotated with real-world ground-truth 6D object poses, whose collection is fairly…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

For many practical problems and applications, it is not feasible to create a vast and accurately labeled dataset, which restricts the application of deep learning in many areas. Semi-supervised learning algorithms intend to improve…

Purpose: Accurate estimation of the position and orientation (pose) of surgical instruments is crucial for delicate minimally invasive temporal bone surgery. Current techniques lack in accuracy and/or line-of-sight constraints (conventional…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Estimating the 6D pose of objects from RGBD data is a fundamental problem in computer vision, with applications in robotics and augmented reality. A key challenge is achieving generalization to novel objects that were not seen during…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…