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2022-ral-sofa-soft-growing-robots

This repository contains the plugin developed for the modelling of soft growing steerable robots within the SOFA framework.

2023-icra-optas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

boe2017-aoslo-photoreceptor-detection

This repository contains matlab software pertaining to automated cone photoreceptor identification in adaptive optics scanning light ophthalmoscope (AOSLO) images.

boe2018-aoslo-image-mosaic

This repository contains python software pertaining to automated AO image mosaicing, as presented in Biomedical Optics Express 2018.

boe2020-octa-vessel-segmentation

This repo contains an implementation of the methods described in 'Deep iteratitive vessel segmentation in OCT angiography'

cvpr2019-light-field-structure-from-motion

Software implementation of our 2019 CVPR paper titled "Large-Scale, Metric Structure from Motion for Unordered Light Fields"

decklink_ros

Exposes the Decklink API to ROS

decklink_ros2_inference

eccv2022-multi-scale-and-cross-scale-contrastive-segmentation

Implementation of the methods described in "Multi-scale and Cross-scale Contrastive Learning for Semantic Segmentation", ECCV 2022

endoscopy

Vision utilities for endoscopy

fovea

geomagic_touch_x_ros_driver

ROS package for control of 3D Systems Geomagic Touch X.

gravity_compensation

ICRA 2024 Supplementary material For paper "Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System"

h_pose_vs

h_rcm_vs

Implements a homography-based 2D visual servo with remote center of motion constraint

h_rcm_vs_ws

This workspace implements an exemplary use cases for homography-based 2D visual servoing with remote center of motion constraint

h_vs

Implementation of 'Homography-based 2D Visual Servoing' S. Benhimane and E. Malis with ROS integration

iccv2017-plenoptic-camera-calibration

This repository contains the plenoptic camera calibration software that was developed for our ICCV 2017 paper.

iros2019-ctr-manipulability

The code for modelling of concentric tube robot and estimating it's manipulability

jcm2020-non-perfusion-segmentation

This repository contains the software developed for our 2020 publication to Journal of Clinical Medicine, on the topic of "Segmentation and Quantification of Retinal Capillary Non-Perfusion on Ultra-Wide-Field Retinal Fluorescein Angiography"

lbr_controllers

Experimental ROS2 controllers

lbr_fri_ros2_stack

ROS1/2 integration for KUKA LBR robots

lbr_tools

lbr_with_tools

Robotic setups in ROS/Gazebo with KUKA LBR Med

learnablepromptsam

Try to use the SAM-ViT as the backbone to create the learnable prompt for semantic segmentation

miccai2021_cataract_semantic_segmentation

This repository contains the implementation of the methods presented in the paper "Effective semantic segmentation in Cataract Surgery: What matters most?" to be presented at MICCAI 2021. https://arxiv.org/pdf/2108.06119

miccai2023-camera-motion-prediction

Predicting and estimating camera motion in endoscopic interventions

nsr2018-aoslo-photoreceptor-detection

This repository contains python software pertaining to automated cone photoreceptor identification in adaptive optics scanning light ophthalmoscope (AOSLO) images. It is the implementation of our methodology presenting at Nature Scientific Report in 2018.

omia2021-ioct-super-resolution

This repository contains the source code of the methods described in 'Intra-operative OCT (iOCT) Image QualityEnhancement: A Super-Resolution Approachusing High Quality iOCT 3D Scans'.

ram2017-ctr-kinematics

This repository contains our software on kinematics of concentric tube robots. The kinematics include the estimation of torsion, and have been optimised for rapid evaluation. This package solves the forward kinematics (from the tip angles).