相关论文: Tracking Any Point Methods for Markerless 3D Tissu…
Commonly used human motion capture systems require intrusive attachment of markers that are visually tracked with multiple cameras. In this work we present an efficient and inexpensive solution to markerless motion capture using only a few…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
Automated tracking of surgical tool keypoints in robotic surgery videos is an essential task for various downstream use cases such as skill assessment, expertise assessment, and the delineation of safety zones. In recent years, the…
Video object segmentation (VOS) models such as SAM2 offer promising zero-shot tracking capabilities for surgical videos using minimal user input. Among the available input types, point-based tracking offers an efficient and low-cost…
Clinical tracking systems are popular but typically require specific tracking markers. During the last years, scanning speed of optical coherence tomography (OCT) has increased to A-scan rates above 1 MHz allowing to acquire volume scans of…
Tracking any point based on image frames is constrained by frame rates, leading to instability in high-speed scenarios and limited generalization in real-world applications. To overcome these limitations, we propose an image-event fusion…
Real-time 3D navigation during minimally invasive procedures is an essential yet challenging task, especially when considerable tissue motion is involved. To balance image acquisition speed and resolution, only 2D images or low-resolution…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
Touchless interaction with medical images is becoming increasingly important in the surgical field, where sterility and continuity of the operational workflow are essential requirements. This work presents a vision-based system for…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
In this paper, we propose a simple and strong framework for Tracking Any Point with TRansformers (TAPTR). Based on the observation that point tracking bears a great resemblance to object detection and tracking, we borrow designs from…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…
Three-dimensional ultrasound (US) offers many clinical advantages over conventional 2D imaging, yet its widespread adoption is limited by the cost and complexity of traditional 3D systems. Sensorless 3D US, which uses deep learning to…
We present a novel approach for hand-object action recognition that leverages 2D point tracks as an additional motion cue. While most existing methods rely on RGB appearance, human pose estimation, or their combination, our work…
Tracking of plant cells in images obtained by microscope is a challenging problem due to biological phenomena such as large number of cells, non-uniform growth of different layers of the tightly packed plant cells and cell division.…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
In this paper, we aim to model 3D scene geometry, appearance, and physical information just from dynamic multi-view videos in the absence of any human labels. By leveraging physics-informed losses as soft constraints or integrating simple…
Multi-view camera systems enable rich observations of complex real-world scenes, and understanding dynamic objects in multi-view settings has become central to various applications. In this work, we present MV-TAP, a novel point tracker…
Template-based 3D object tracking still lacks a high-precision benchmark of real scenes due to the difficulty of annotating the accurate 3D poses of real moving video objects without using markers. In this paper, we present a multi-view…
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of…