相关论文: Automated C-Arm Positioning via Conformal Landmark…

Position-aided beam selection methods have been shown to be an effective approach to achieve high beamforming gain while limiting the overhead and latency of initial access in millimeter wave (mmWave) communications. Most research in the…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the recognition takes place…

Accurate grasping point prediction is a key challenge for autonomous tissue manipulation in minimally invasive surgery, particularly in complex and variable procedures such as colorectal interventions. Due to their complexity and prolonged…

Part-level representations are essential for robust person re-identification. However, common errors that arise during pedestrian detection frequently result in severe misalignment problems for body parts, which degrade the quality of part…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

To meet the clinical demand for accurate 3D lumbar spine assessment in a weight-bearing position, this study presents a novel, fully automatic framework for high-precision 3D reconstruction from biplanar X-ray images, overcoming the…

Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…

Contemporary interventional imaging lacks the real-time 3D guidance needed for the precise localization of mobile thoracic targets. While Cone-Beam CT (CBCT) provides 3D data, it is often too slow for dynamic motion tracking. Deep learning…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

3D pose estimation from a 2D cross-sectional view enables healthcare professionals to navigate through the 3D space, and such techniques initiate automatic guidance in many image-guided radiology applications. In this work, we investigate…

Face alignment is a classic problem in the computer vision field. Previous works mostly focus on sparse alignment with a limited number of facial landmark points, i.e., facial landmark detection. In this paper, for the first time, we aim at…

A face model is a mathematical representation of the distinct features of a human face. Traditionally, face models were built using a set of fiducial points or landmarks, each point ideally located on a facial feature, i.e., corner of the…

Long-term autonomy for mobile robots requires both robust self-localization and reliable map maintenance. Conventional landmark-based methods face a fundamental trade-off between landmarks with high detectability but low distinctiveness…

Interventional C-arm imaging is crucial to percutaneous orthopedic procedures as it enables the surgeon to monitor the progress of surgery on the anatomy level. Minimally invasive interventions require repeated acquisition of X-ray images…

Cerebral Microbleeds (CMBs) are chronic deposits of small blood products in the brain tissues, which have explicit relation to various cerebrovascular diseases depending on their anatomical location, including cognitive decline,…