110 citations · 188 across the 19 of their papers we have counts for
6 papers · 1 filter
Tracking Snake-like Robots in the Wild Using Only a Single Camera
Jingpei Lu, Florian Richter, Shan Lin +1
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes…
BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields
Shreya Saha, Zekai Liang, Shan Lin +3
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It…
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
Shan Lin, Albert J. Miao, Ali Alabiad +5
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mit…
BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives
Sainan Liu, Shan Lin, Jingpei Lu +2
Implicit neural representations have become pivotal in robotic perception, enabling robots to comprehend 3D environments from 2D images. Given a set of camera poses and associated…
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
Jingpei Lu, Florian Richter, Michael C. Yip
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. Traditiona…
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
Jingpei Lu, Fei Liu, Cedric Girerd +1
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…