Image-matching based navigation system for robotic ureteroscopy in kidney exploration

Kidney stone disease has become the most common disease of the urinary tract. Flexible ureteroscopy (fURS) is one of the methods to perform diagnosis or treatment for the stones inside the kidney. However, because of the complex structure inside the kidney with multiple calyxes and the limitation of the ureteroscope, surgeons find it difficult...

SliceNet: Street-to-Satellite Image Metric Localization using Local Feature Matching

This work addresses visual localization for intelligent vehicles. The task of cross-view matching-based localization is to estimate the geo-location of a vehicle-mounted camera by matching the captured street view image with an overhead-view satellite map containing the vehicle's local surroundings. This local satellite view image can be...

Quantifying the quality of coastal morphological predictions

This thesis investigates the behaviour of the often used point-wise skill score, the MSESSini a.k.a. BSS, and develops new error metrics that, as opposed to point-wise metrics, take the spatial structure of morphological patterns into account. The...

Attention-Aware Age-Agnostic Visual Place Recognition

A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an unknown location is matched with relevant instances from geo-tagged gallery database. Different from...

Cross Domain Image Matching in Presence of Outliers

Cross domain image matching between image collections from different source and target domains is challenging in times of deep learning due to i) limited variation of image conditions in a training set, ii) lack of paired-image labels during training, iii) the existing of outliers that makes image matching domains not fully overlap. To this end,...

Indexing and Retrieving Voice Recordings by Instantly Tagging Mentioned Objects with Dots

This paper presents a novel framework and its prototype tool for indexing and retrieving specific fragments of voice recordings obtained during discussions about physical objects such as text documents, pictures, or 3D models. When a specific part of an object is mentioned, it is tagged with an ink dot that is immediately registered in a...

Medicine tablet authentication using fingerprints of ink-jet printed characters

Counterfeit drugs have been a serious problem causing damage to people's health over the world. Numerous anti-counterfeiting methods based on tagging have been proposed; however, they suffer from three major issues: (1) tagging is applicable only to packages, not tablets directly; (2) end-users, i.e., patients, cannot inspect the tags; (3)...

Unsupervised Cross Domain Image Matching with Outlier Detection

This work proposes a method for matching images from different domains in an unsupervised manner, and detecting outlier samples in the target domain at the same time. This matching problem is made difficult by i) the different domain images that are related but under different conditions (e.g. photos of the same location captured in different...

Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images

This paper presents a new approach to the automatic registration of terrestrial laser scanning (TLS) point clouds using panoramic reflectance images. The approach follows a two-step procedure that includes both pair-wise registration and global registration. The pair-wise registration consists of image matching (pixel-to-pixel correspondence)...

Automatic registration of terrestrial point cloud using panoramic reflectance images

Much attention is paid to registration of terrestrial point clouds nowadays. Research is carried out towards improved efficiency and automation of the registration process. This paper reports a new approach for point clouds registration utilizing reflectance panoramic images. The approach follows a two-step procedure: pair-wise registration and...

A robust and adaptive matching procedure for automatic modelling of terrain relief.