A Comparative Study of Spatio-Temporal U-Nets for Tissue Segmentation in Surgical Robotics

This paper compares the performance of three different neural network structures based on the U-Net for tissue segmentation. The models subject of this study comprise temporal layers such as Long Short Term Memory cells and Attention Gate block. Results show that the model benefits from the implementation of temporal layers along with attention-based layers, even […]

On the Observability and Observer Design on the Special Orthogonal Group Based on Partial Inertial Sensing

We recently demonstrated the feasibility in estimating the rotation of a rigid body (attitude), by the only mean of accelerometer and gyroscope. Find our paper on IEEE Transactions on Automatic Control: https://ieeexplore.ieee.org/document/9308988 These results are fundamental for localization in presence of strong magnetic fields, which provoke saturation or artefacts in magnetometers. Saturations in the magnetometer […]