Visadapt: Catadioptric adaptive camera for scenes of variable density of visual information.

This paper presents the design method of a multi-resolution camera, named Visadapt. It is made of a conventional compact camera with a sensor and a lens pointed to a new deformable mirror so that the mirror in a flat state is parallel to the image plane. The main novelty of the latter mirror, to our knowledge, is the ability to control automatically strokes of several millimeters.

SofaGym: An Open Platform for Reinforcement Learning Based on Soft Robot Simulations.

OpenAI Gym is one of the standard interfaces used to train Reinforcement Learning (RL) Algorithms. The Simulation Open Framework Architecture (SOFA) is a physics-based engine that is used for soft robotics simulation and control based on real-time models of deformation. The aim of this article is to present , an open-source software to create OpenAI Gym interfaces, called environments, out of soft robot digital twins.

Blood vessel modeling for interactive simulation of interventional neuroradiology procedures.

Endovascular interventions can benefit from interactive simulation in their training phase but also during pre-operative and intra-operative phases if simulation scenarios are based on patient data. A key feature in this context is the ability to extract, from patient images, models of blood vessels that impede neither the realism nor the performance of simulation. This paper addresses both the segmentation and reconstruction of the vasculature from 3D Rotational Angiography data, and adapted to simulation: An original tracking algorithm is proposed to segment the vessel tree while filtering points extracted at the vessel surface in the vicinity of each point on the centerline; then an automatic procedure is described to reconstruct each local unstructured point set as a skeleton-based implicit surface (blobby model).

Monocular 3D Reconstruction and Augmentation of Elastic Surfaces with Self-Occlusion Handling.

This paper focuses on the 3D shape recovery and augmented reality on elastic objects with self-occlusions handling, using only single view images. Shape recovery from a monocular video sequence is an underconstrained problem and many approaches have been proposed to enforce constraints and resolve the ambiguities. State-of-the art solutions enforce smoothness or geometric constraints, consider specific deformation properties such as inextensibility or resort to shading constraints.

Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery.

This paper presents a method for real-time augmented reality of internal liver structures during minimally invasive hepatic surgery. Vessels and tumors computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance. Compared to current methods, our method is able to locate the in-depth positions of the tumors based on partial three-dimensional liver tissue motion using a real-time biomechanical model.