2 citations · 5 across the 7 of their papers we have counts for
8 papers
Robust Surgical Robotic Instrument Tracking via Sequential Multi-Cue Fusion and Sim-to-Real Self-Training
Hanyang Hu, Zekai Liang, Florian Richter +1
Efficient and robust tracking of surgical robotic instruments is important for robot-assisted minimally invasive surgery, yet remains challenging due to the complexity of surgical…
CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera
Jingpei Lu, Zekai Liang, Tristin Xie +4
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have elimin…
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…
Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints
Yutong Zhang, Fei Liu, Xiao Liang +1
Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing a…
AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT
Fangbo Qin, Taogang Hou, Shan Lin +3
Towards flexible object-centric visual perception, we propose a one-shot instance-aware object keypoint (OKP) extraction approach, AnyOKP, which leverages the powerful representati…
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…
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery
Xiao Liang, Fei Liu, Yutong Zhang +3
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM met…