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Towards Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery
[article]
2023
arXiv
pre-print
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An RGB-D camera attached to the robotic arm allows for automatic object localisation with ArUco markers, and 3D surface reconstruction as a triangular mesh using the ImFusion Suite software solution. ...
A preliminary experiment evaluates the suitability of the conceptual workflow and system components for probe landing on a custom-made soft-tissue phantom. ...
The RGB-D camera is then rotated around the centre point/normal -capturing the phantom at multiple views. ...
arXiv:2312.08409v1
fatcat:tfqs75nhjfaotlhefvwo5vd35q
3D real human reconstruction via multiple low-cost depth cameras
2015
Signal Processing
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In this paper, we propose a novel application that automatically reconstructs a real 3D moving human captured by multiple RGB-D cameras in the form of a polygonal mesh, and which may help users to actually ...
The proposed method includes three key steps for realizing dynamic 3D human reconstruction from RGB images and noisy depth data captured from a distance. ...
[38] summarized recent approaches for 3D human pose estimation based on 3D features reconstructed from multiple views. ...
doi:10.1016/j.sigpro.2014.10.021
fatcat:stc3q5qabrdkdlnhq6c4wortna
Immersive 3D Telepresence
2014
Computer
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Figure 4 . 4 Virtual views of real-time 3D room reconstructions from 10 Kinect RGB-D cameras. ...
video displays, ever-higher-quality RGB-D cameras, and everfaster GPUs for gaming and entertainment. ...
doi:10.1109/mc.2014.185
fatcat:3firevjxujcddnjgr4zk7as3x4
Gaze-contingent perceptually enabled interactions in the operating theatre
2017
International Journal of Computer Assisted Radiology and Surgery
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point in 3D space. ...
We hypothesise that a framework that collects and utilises information -especially perceptually enabled ones-from multiple sources, could help to meet the above goals. ...
Informed consent For this type of study, no informed consent was required. ...
doi:10.1007/s11548-017-1580-y
pmid:28397111
pmcid:PMC5509830
fatcat:t7epqrxmkvffvjz6yqx6w2uljm
HuMMan: Multi-Modal 4D Human Dataset for Versatile Sensing and Modeling
[article]
2022
arXiv
pre-print
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Extensive experiments on HuMMan voice the need for further study on challenges such as fine-grained action recognition, dynamic human mesh reconstruction, point cloud-based parametric human recovery, and ...
With the advances of new sensors and algorithms, there is an increasing demand for more versatile datasets. ...
For stage I, virtual cameras are placed around the minimally clothed body scan to render multi-view images. For stage II, the color images from multi-view RGB-D are used. ...
arXiv:2204.13686v1
fatcat:d6ur54bgfjbofle3htqg3firb4
SHOWMe: Benchmarking Object-agnostic Hand-Object 3D Reconstruction
[article]
2023
arXiv
pre-print
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Importantly, the rigidity of the hand-object systems allows to tackle video-based 3D reconstruction of unknown hand-held objects using a 2-stage pipeline consisting of a rigid registration step followed ...
However, these methods remain sensitive to the initial camera pose estimates which might be imprecise due to lack of textures on the objects or heavy occlusions of the hands, leaving room for improvements ...
Second, we evaluate a set of baselines for the MVR-based pipeline for detailed and object-agnostic HO 3D reconstruction in RGB videos. ...
arXiv:2309.10748v1
fatcat:chdvulmsozewjd7ujzgcaq4ggy
Rapid 3D Modeling and Parts Recognition on Automotive Vehicles Using a Network of RGB-D Sensors for Robot Guidance
2013
Journal of Sensors
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Sections of the depth information on one side of the vehicle are then collected, aligned, and merged into a global RGB-D model. ...
The work introduces a method to integrate raw streams from depth sensors in the task of 3D profiling and reconstruction and a methodology for the extrinsic calibration of a network of Kinect sensors. ...
STPGP 381229-09, as well as the collaboration of Scintrex Trace Corp. ...
doi:10.1155/2013/832963
fatcat:abonn2tn5fdf3iv7av5htc7i34
A Study of 3D Digitisation Modalities for Crime Scene Investigation
2021
Forensic Sciences
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We present the methodology for acquiring data for 3D reconstruction of various types of scenes. ...
scanning modality. ...
In the context of our investigation with digitisation tools, we developed an RGB-D scanning modality based on the state-of-the-art RGB-D SLAM and reconstruction [54] tailored for this type of sensor. ...
doi:10.3390/forensicsci1020008
fatcat:2y4qpjqfprdp5iav7lfz6pvqwm
Medical Robotics for Ultrasound Imaging: Current Systems and Future Trends
2021
Current Robotics Reports
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Hereafter, the literature of the past five years is subdivided into teleoperation, collaborative assistance, or autonomous systems based on LORA. ...
Finally, future trends for robotic ultrasound systems are reviewed with a focus on artificial intelligence and virtual/augmented reality. ...
-4/38 Kinect [Ultrasonix] [Microsoft] 3D convex probe; RGB-D camera; 4DC7-3/40 Kinect [Ultrasonix] [Microsoft] single plane mode 3D convex probe; RGB-D camera; 4DC7-3/40 Kinect [Ultrasonix]; [Microsoft ...
doi:10.1007/s43154-020-00037-y
pmid:34977593
pmcid:PMC7898497
fatcat:yefzwbpa2bcyphhpnotb7henza
Automatic Robot-Driven 3D Reconstruction System for Chronic Wounds
2021
Sensors
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This paper describes an automatic wound recording system build upon 7 DoF robot arm with attached RGB-D camera and high precision 3D scanner. ...
The system was evaluated on multiple wounds located on medical models as well as on real patents recorded in clinical medical center. ...
Authors in [10] developed a semi-autonomous robot system for trauma assessment. The developed system uses a 7 DoF robot and a RGB-D camera for creating a 3D reconstruction of a medical model. ...
doi:10.3390/s21248308
pmid:34960402
pmcid:PMC8703929
fatcat:mbs6svax6rf3jmbpq4g5ckwuoi
How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey
[article]
2024
arXiv
pre-print
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2024 pre-print arXiv:2402.13255v1 fatcat:k3z4qldd3zcp7jtej7ms2eiesm
This evolution ranges from hand-crafted methods, through the era of deep learning, to more recent developments focused on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) representations ...
It sheds light on the background, evolutionary path, inherent strengths and limitations, and serves as a fundamental reference to highlight the dynamic progress and specific challenges. ...
GSSLAM [90] .This system employs 3D Gaussian Splatting as its only representation for online 3D reconstruction using a single moving RGB or RGB-D camera. ...
arXiv:2402.13255v2
fatcat:2fgmsu7wefc2nhh7cdxyxkmou4
A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot
[article]
2019
arXiv
pre-print
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2020 accepted arXiv:1908.02949v2 fatcat:h6uwqhn6jfei3m2w4cvimprh7a
While being operated through the scene, a robot captures RGB-D data that is streamed to a SLAM-based live multi-client telepresence system. ...
Here, a global 3D model of the already captured scene parts is reconstructed and streamed to the individual remote user clients where the rendering for e.g. head-mounted display devices (HMDs) is performed ...
To provide an ascomplete-as-possible scene reconstruction for the teleoperation, the involved RGB-D camera can be moved via a manipulator, if existing on the robot. ...
arXiv:1908.02949v1
fatcat:nydhcf2pe5hnvhzf7bk4v6i6ei
Collaborative geometry-aware augmented reality with depth sensors
2014
Proceedings of the 2014 ACM International Joint Conference on Pervasive and Ubiquitous Computing Adjunct Publication - UbiComp '14 Adjunct
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We present an approach for a collaborative augmented reality environment using an RGB-D camera and KinectFusion, collecting visual and depth data from a static environment that is used as a fiducial for ...
multiple users. ...
One collaborative example that we have prototyped is for multiple users to throw digital balls at a scene. ...
doi:10.1145/2638728.2638765
dblp:conf/huc/MaBFPJ14
fatcat:iblj7luksferla2oz27lmhiuku
RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments
[chapter]
2014
Springer Tracts in Advanced Robotics
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RGB-D cameras are novel sensing systems that capture RGB images along with per-pixel depth information. ...
We present RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment. ...
We would like to thank Louis LeGrand and Brian Mayton for their support with the PrimeSense camera, and Marvin Cheng for his work on visualization. ...
doi:10.1007/978-3-642-28572-1_33
fatcat:3hlg5w4gzjfkpbugvllhuzkrdu
Efficient Surfel Fusion Using Normalised Information Distance
[article]
2021
arXiv
pre-print
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We present a new technique that achieves a significant reduction in the quantity of measurements required for a fusion based dense 3D mapping system to converge to an accurate, de-noised surface reconstruction ...
The technique builds upon the ElasticFusion (EF) algorithm where we report results of the technique's scalability and the accuracy of the resultant maps by applying it to both the ICL-NUIM and TUM RGB-D ...
For each frame we compute two NID scores, one for the RGB component of the frame, N ID rgb , and one for the depth component, N ID d . ...
arXiv:2108.05163v1
fatcat:7fx5jdcf3vdmxpalvnqkn6cloi
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