74 citations · 79 across the 7 of their papers we have counts for
8 papers
LapaTrack-3D: 6 DoF pre-operative shape tracking for laparoscopic surgery
Jingwei Song, Javid Hussain Jakir, Ray Zhang +4
This work proposes a real-time 6 Degree-of-Freedom (6 DoF) tracking algorithm for monocular laparoscopic surgery. It provides alignment between intra-operative video and pre-operat…
SLAM assisted 3D tracking system for laparoscopic surgery
Jingwei Song, Ray Zhang, Wenwei Zhang +2
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback…
Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning
Ray Zhang, Zheming Zhou, Min Sun +5
This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions…
RKHS-BA: A Robust Correspondence-Free Multi-View Registration Framework with Semantic Point Clouds
Ray Zhang, Jingwei Song, Xiang Gao +5
This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations…
BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgery
Jingwei Song, Ray Zhang, Qiuchen Zhu +2
Purpose: Common dense stereo Simultaneous Localization and Mapping (SLAM) approaches in Minimally Invasive Surgery (MIS) require high-end parallel computational resources for real-…
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events
Tzu-Yuan Lin, Ray Zhang, Justin Yu +1
This work develops a learning-based contact estimator for legged robots that bypasses the need for physical sensors and takes multi-modal proprioceptive sensory data as input. Unli…
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin +5
This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels in…
Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping
Lu Gan, Ray Zhang, Jessy W. Grizzle +2
This paper develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy maps, a binar…