Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery

no code implementations • 22 Mar 2020 • Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake

Our SLAM system can: (1) Incrementally build a live model by progressively fusing new observations with vivid accurate texture.

Dynamic Reconstruction Simultaneous Localization and Mapping

MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing

no code implementations • 6 Mar 2018 • Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake

Idled CPU is used to perform ORB- SLAM for providing robust global pose.

Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring

1 code implementation • 7 Jul 2016 • Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

Our approach is built on rapidly-exploring information gathering algorithms and benefits from advantages of sampling-based optimal motion planning algorithms.

Robotics

RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature

no code implementations • 14 Mar 2016 • Kanzhi Wu, Xiaoyang Li, Ravindra Ranasinghe, Gamini Dissanayake, Yong liu

This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations.