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26 results on '"Mariottini, Gian-Luca"'

1. SegICP-DSR: Dense Semantic Scene Reconstruction and Registration

Author

Wong, Jay M., Wagner, Syler, Lawson, Connor, Kee, Vincent, Hebert, Mitchell, Rooney, Justin, Mariottini, Gian-Luca, Russell, Rebecca, Schneider, Abraham, Chipalkatty, Rahul, and Johnson, David M. S.

Subjects
Computer Science - Robotics
Abstract

To enable autonomous robotic manipulation in unstructured environments, we present SegICP-DSR, a real- time, dense, semantic scene reconstruction and pose estimation algorithm that achieves mm-level pose accuracy and standard deviation (7.9 mm, {\sigma}=7.6 mm and 1.7 deg, {\sigma}=0.7 deg) and suc- cessfully identified the object pose in 97% of test cases. This represents a 29% increase in accuracy, and a 14% increase in success rate compared to SegICP in cluttered, unstruc- tured environments. The performance increase of SegICP-DSR arises from (1) improved deep semantic segmentation under adversarial training, (2) precise automated calibration of the camera intrinsic and extrinsic parameters, (3) viewpoint specific ray-casting of the model geometry, and (4) dense semantic ElasticFusion point clouds for registration. We benchmark the performance of SegICP-DSR on thousands of pose-annotated video frames and demonstrate its accuracy and efficacy on two tight tolerance grasping and insertion tasks using a KUKA LBR iiwa robotic arm.

Published
2017

2. SegICP: Integrated Deep Semantic Segmentation and Pose Estimation

Author

Wong, Jay M., Kee, Vincent, Le, Tiffany, Wagner, Syler, Mariottini, Gian-Luca, Schneider, Abraham, Hamilton, Lei, Chipalkatty, Rahul, Hebert, Mitchell, Johnson, David M. S., Wu, Jimmy, Zhou, Bolei, and Torralba, Antonio

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed and robustness, we present SegICP, a novel integrated solution to object recognition and pose estimation. SegICP couples convolutional neural networks and multi-hypothesis point cloud registration to achieve both robust pixel-wise semantic segmentation as well as accurate and real-time 6-DOF pose estimation for relevant objects. Our architecture achieves 1cm position error and <5^\circ$ angle error in real time without an initial seed. We evaluate and benchmark SegICP against an annotated dataset generated by motion capture., Comment: IROS camera-ready

Published
2017
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3. Enhancing Normal-Abnormal Classification Accuracy in Colonoscopy Videos via Temporal Consistency

Author

Puerto-Souza, Gustavo A., Manivannan, Siyamalan, Trujillo, María P., Hoyos, Jesus A., Trucco, Emanuele, Mariottini, Gian-Luca, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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5. Erratum to: Computer-Assisted and Robotic Endoscopy

Author

Luo, Xiongbiao, Reichl, Tobias, Reiter, Austin, Mariottini, Gian-Luca, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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8. SegICP: Integrated deep semantic segmentation and pose estimation

Author

Massachusetts Institute of Technology. Laboratory for Information and Decision Systems, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Wong, Jay M., Kee, Vincent, Le, Tiffany, Wagner, Syler, Mariottini, Gian-Luca, Schneider, Abraham, Hamilton, Lei, Chipalkatty, Rahul, Hebert, Mitchell, Johnson, David M.S., Wu, Jimmy, Zhou, Bolei, Torralba, Antonio, Massachusetts Institute of Technology. Laboratory for Information and Decision Systems, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Wong, Jay M., Kee, Vincent, Le, Tiffany, Wagner, Syler, Mariottini, Gian-Luca, Schneider, Abraham, Hamilton, Lei, Chipalkatty, Rahul, Hebert, Mitchell, Johnson, David M.S., Wu, Jimmy, Zhou, Bolei, and Torralba, Antonio

Abstract

© 2017 IEEE. Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed and robustness, we present SegICP, a novel integrated solution to object recognition and pose estimation. SegICP couples convolutional neural networks and multi-hypothesis point cloud registration to achieve both robust pixel-wise semantic segmentation as well as accurate and real-time 6-DOF pose estimation for relevant objects. Our architecture achieves 1 cm position error and < 5° angle error in real time without an initial seed. We evaluate and benchmark SegICP against an annotated dataset generated by motion capture.

Published
2021

9. A Real-Time Target Tracking Algorithm for a Robotic Flexible Endoscopy Platform

Author

van der Stap, Nanda, Voskuilen, Luuk, de Jong, Guido, Pullens, Hendrikus J.M., Schwartz, Matthijs P., Broeders, Ivo, van der Heijden, Ferdi, Luo, Xiongbiao, Reichl, Tobias, Reiter, Austin, and Mariottini, Gian-Luca

Subjects
0301 basic medicine, Engineering, medicine.medical_treatment, 030106 microbiology, Algorithm brute force, Scale Invariant Feature Transform, Scale-invariant feature transform, Field of view, Flexible endoscopy, 03 medical and health sciences, Software, Region of interest, Robustness (computer science), medicine, Root Mean Square Error, Computer vision, Endoscopic retrograde cholangiopancreatography, medicine.diagnostic_test, business.industry, Motion blur, Feature tracking algorithm, Polypectomy, 030104 developmental biology, Artificial intelligence, business, Algorithm
Abstract

Complex endoscopic interventions require a new generation of devices and instruments. A robotic platform for flexible endoscopy through telemanipulation was developed to meet this demand. The concept of telemanipulation allows the development of software for computer-aided surgery. Intelligent navigation such as automated target centralization could assist the endoscopist during procedures. A real-time algorithm was designed for tracking a target region that is of specific interest for the surgeon. Therefore, the physician needs to indicate the region to be tracked, which then will be centralized locked. The goal of this research is to investigate the robustness and accuracy of the tracking algorithm during endoscopic interventions. The region of interest can be a polyp for polypectomy, Vater's ampulla for Endoscopic Retrograde CholangioPancreatography ERCP, Barrett's epithelia for gastroscopic biopsy or any area in more complex procedures. The algorithm was tested in vitro on image sequences obtained during real endoscopic interventions. The indicated area of interest could be tracked in all image sequences, with an accuracy of 91.6i¾ź% Q1---Q3 77.7i¾ź%---99.0i¾ź%, intraclass correlation. The algorithm was robust against instruments or smoke in the field of view. Tracking was less robust against very large camera movements. The developed target lock worked robustly, in real-time and was found to be accurate. Improvements include improving the robustness of the algorithm against motion blur and drift.

Published
2016

10. SegICP: Integrated deep semantic segmentation and pose estimation

Author

Wong, Jay M., primary, Kee, Vincent, additional, Le, Tiffany, additional, Wagner, Syler, additional, Mariottini, Gian-Luca, additional, Schneider, Abraham, additional, Hamilton, Lei, additional, Chipalkatty, Rahul, additional, Hebert, Mitchell, additional, Johnson, David M.S., additional, Wu, Jimmy, additional, Zhou, Bolei, additional, and Torralba, Antonio, additional

Published
2017
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11. Computer-Assisted and Robotic Endoscopy : Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers / edited by Xiongbiao Luo, Tobias Reichl, Austin Reiter, Gian-Luca Mariottini.

Author

Luo, Xiongbiao. editor., Reichl, Tobias. editor., Reiter, Austin. editor., Mariottini, Gian-Luca. editor., SpringerLink (Online service), Luo, Xiongbiao. editor., Reichl, Tobias. editor., Reiter, Austin. editor., Mariottini, Gian-Luca. editor., and SpringerLink (Online service)

Abstract

This book constitutes the thoroughly refereed post-conference proceedings of the Second International Workshop on Computer Assisted and Robotic Endoscopy, CARE 2015, held in conjunction with MICCAI 2015, in Munich, Germany, in October 2015. The 15 revised full papers were carefully selected out of 20 initial submissions and focus on recent technical advances associated with computer vision; graphics; robotics and medical imaging; external tracking systems; medical device control systems; information processing techniques; endoscopy; planning and simulation.

Published
2016

13. Instrument Tracking with Rigid Part Mixtures Model

Author

Wesierski, Daniel, Wojdyga, Grzegorz, Jezierska, Anna, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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14. Using Shading to Register an Intraoperative CT Scan to a Laparoscopic Image

Author

Bernhardt, Sylvain, Nicolau, Stéphane A., Bartoli, Adrien, Agnus, Vincent, Soler, Luc, Doignon, Christophe, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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15. Tissue Shape Acquisition with a Hybrid Structured Light and Photometric Stereo Endoscopic System

Author

Visentini-Scarzanella, Marco, Hanayama, Tatsuya, Masutani, Ryunosuke, Yoshida, Shigeto, Kominami, Yoko, Sanomura, Yoji, Tanaka, Shinji, Furukawa, Ryo, Kawasaki, Hiroshi, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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16. Surgical Simulation Robot with Haptics and Friction Compensation

Author

Yang, Tao, Huang, Weimin, Toe, Kyaw Kyar, Zhou, Jiayin, Duan, Yuping, Chi, Yanling, Loh, Loong Ee, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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17. 2D/3D Real-Time Tracking of Surgical Instruments Based on Endoscopic Image Processing

Author

Agustinos, Anthony, Voros, Sandrine, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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18. Stereoscopic Motion Magnification in Minimally-Invasive Robotic Prostatectomy

Author

McLeod, A. Jonathan, Baxter, John S. H., Jayarathne, Uditha, Pautler, Stephen, Peters, Terry M., Luo, Xiongbiao, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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19. Impact of Lossy Image Compression on CAD Support Systems for Colonoscopy

Author

Elmer, Peter, Häfner, Michael, Tamaki, Toru, Tanaka, Shinji, Thaler, Rene, Uhl, Andreas, Yoshida, Shigeto, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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20. A Novel Dual LevelSets Competition Model for Colon Region Segmentation

Author

Wang, Huafeng, Song, Wenfeng, Li, Lihong, Pan, Haixia, Ma, Ming, Lv, Weifeng, Zhong, Zhaohui, Liang, Zhengrong, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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21. Pointing with a One-Eyed Cursor for Supervised Training in Minimally Invasive Robotic Surgery

Author

Kibsgaard, Martin, Kraus, Martin, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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22. 3D Stable Spatio-Temporal Polyp Localization in Colonoscopy Videos

Author

Gil, Debora, Javier Sánchez, F., Fernández-Esparrach, Gloria, Bernal, Jorge, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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23. Uninformative Frame Detection in Colonoscopy Through Motion, Edge and Color Features

Author

Armin, Mohammad Ali, Chetty, Girija, Jurgen, Fripp, De Visser, Hans, Dumas, Cedric, Fazlollahi, Amir, Grimpen, Florian, Salvado, Olivier, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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24. Tracking Accuracy Evaluation of Electromagnetic Sensor-Based Colonoscope Tracking Method

Author

Oda, Masahiro, Kondo, Hiroaki, Kitasaka, Takayuki, Furukawa, Kazuhiro, Miyahara, Ryoji, Hirooka, Yoshiki, Goto, Hidemi, Navab, Nassir, Mori, Kensaku, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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25. Non Rigid Registration of 3D Images to Laparoscopic Video for Image Guided Surgery

Author

Allan, Max, Kapoor, Ankur, Mewes, Philip, Mountney, Peter, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Luo, Xiongbiao, editor, Reichl, Tobias, editor, Reiter, Austin, editor, and Mariottini, Gian-Luca, editor

Published
2016
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26. Easy-to-use, general, and accurate multi-Kinect calibration and its application to gait monitoring for fall prediction.

Author

Staranowicz AN, Ray C, and Mariottini GL

Subjects
Adult, Aged, Calibration, Humans, Monitoring, Ambulatory instrumentation, Reproducibility of Results, Residence Characteristics, Walking, Accidental Falls, Algorithms, Gait physiology, Monitoring, Ambulatory methods
Abstract

Falls are the most-common causes of unintentional injury and death in older adults. Many clinics, hospitals, and health-care providers are urgently seeking accurate, low-cost, and easy-to-use technology to predict falls before they happen, e.g., by monitoring the human walking pattern (or "gait"). Despite the wide popularity of Microsoft's Kinect and the plethora of solutions for gait monitoring, no strategy has been proposed to date to allow non-expert users to calibrate the cameras, which is essential to accurately fuse the body motion observed by each camera in a single frame of reference. In this paper, we present a novel multi-Kinect calibration algorithm that has advanced features when compared to existing methods: 1) is easy to use, 2) it can be used in any generic Kinect arrangement, and 3) it provides accurate calibration. Extensive real-world experiments have been conducted to validate our algorithm and to compare its performance against other multi-Kinect calibration approaches, especially to show the improved estimate of gait parameters. Finally, a MATLAB Toolbox has been made publicly available for the entire research community.

Published
2015
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