|
| | | | |
| | | |
| Stat |
Members: 3645
Articles: 2'501'711
Articles rated: 2609
20 April 2024 |
|
| | | | |
|
Article overview
| |
|
|
Rethinking Causality-driven Robot Tool Segmentation with Temporal Constraints | | Hao Ding
; Jie Ying Wu
; Zhaoshuo Li
; Mathias Unberath
; | | Date: |
30 Nov 2022 | | Abstract: | Purpose: Vision-based robot tool segmentation plays a fundamental role in
surgical robots and downstream tasks. CaRTS, based on a complementary causal
model, has shown promising performance in unseen counterfactual surgical
environments in the presence of smoke, blood, etc. However, CaRTS requires over
30 iterations of optimization to converge for a single image due to limited
observability. Method: To address the above limitations, we take temporal
relation into consideration and propose a temporal causal model for robot tool
segmentation on video sequences. We design an architecture named Temporally
Constrained CaRTS (TC-CaRTS). TC-CaRTS has three novel modules to complement
CaRTS - temporal optimization pipeline, kinematics correction network, and
spatial-temporal regularization. Results: Experiment results show that TC-CaRTS
requires much fewer iterations to achieve the same or better performance as
CaRTS. TC- CaRTS also has the same or better performance in different domains
compared to CaRTS. All three modules are proven to be effective. Conclusion: We
propose TC-CaRTS, which takes advantage of temporal constraints as additional
observability. We show that TC-CaRTS outperforms prior work in the robot tool
segmentation task with improved convergence speed on test datasets from
different domains. | | Source: | arXiv, 2212.00072 | | Services: | Forum | Review | PDF | Favorites | |
|
|
No review found.
Did you like this article?
Note: answers to reviews or questions about the article must be posted in the forum section.
Authors are not allowed to review their own article. They can use the forum section.
browser Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)
|
| |
|
|
|
|
News, job offers and information for researchers and scientists:
| |
REGISTER