Brahim Tamadazte
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View article: Geometrically-Aware One-Shot Skill Transfer of Category-Level Objects
Geometrically-Aware One-Shot Skill Transfer of Category-Level Objects Open
Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object manipul…
View article: LoGDesc: Local geometric features aggregation for robust point cloud registration
LoGDesc: Local geometric features aggregation for robust point cloud registration Open
This paper introduces a new hybrid descriptor for 3D point matching and point cloud registration, combining local geometrical properties and learning-based feature propagation for each point's neighborhood structure description. The propos…
View article: Task-Informed Grasping of Partially Observed Objects
Task-Informed Grasping of Partially Observed Objects Open
In this letter, we address the problem of task-informed grasping in scenarios where only incomplete or partial object information is available. Existing methods, which either focus on task-Aware grasping or grasping under partiality, typic…
View article: Breach Detection in Spine Surgery Based on Cutting Torque
Breach Detection in Spine Surgery Based on Cutting Torque Open
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View article: RoCNet: 3D robust registration of point clouds using deep learning
RoCNet: 3D robust registration of point clouds using deep learning Open
This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder with a convolutional graph-based descriptor that encodes the immediate neighbou…
View article: Automatic Spinal Canal Breach Detection During Pedicle Screw Placement
Automatic Spinal Canal Breach Detection During Pedicle Screw Placement Open
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View article: Breach detection in spine surgery based on cutting torque with ex-vivo experimental validation
Breach detection in spine surgery based on cutting torque with ex-vivo experimental validation Open
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View article: Improvement of the automatic bone breach detection using electrical conductivity for spine surgery
Improvement of the automatic bone breach detection using electrical conductivity for spine surgery Open
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View article: Robotic Guidance of a Surgical Tool Under Constrained Motions
Robotic Guidance of a Surgical Tool Under Constrained Motions Open
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View article: 3D Spectral Domain Registration-Based Visual Servoing
3D Spectral Domain Registration-Based Visual Servoing Open
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View article: Asservissement visuel 3D direct dans le domaine spectral
Asservissement visuel 3D direct dans le domaine spectral Open
This paper presents a direct 3D visual servo scheme for the automatic alignment of point clouds (respectively, objects) using visual information in the spectral domain. Specifically, we propose an alignment method for 3D models/point cloud…
View article: 3D Spectral Domain Registration-Based Visual Servoing
3D Spectral Domain Registration-Based Visual Servoing Open
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between referen…
View article: RoCNet: 3D Robust Registration of Point-Clouds using Deep Learning
RoCNet: 3D Robust Registration of Point-Clouds using Deep Learning Open
This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate n…
View article: Safe Path following for Middle Ear Surgery
Safe Path following for Middle Ear Surgery Open
This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained…
View article: TriRod: a 3-<u>R</u>F Continuum Parallel Robot for Shape-based Load Estimation
TriRod: a 3-RF Continuum Parallel Robot for Shape-based Load Estimation Open
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View article: Automatic laser steering for middle ear surgery
Automatic laser steering for middle ear surgery Open
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View article: Contributions à l'asservissement visuel et à l'imagerie en médecine
Contributions à l'asservissement visuel et à l'imagerie en médecine Open
This manuscript gives an overview of my research work carried out within the FEMTO-ST institute in Besançon, more particularly in the Automatic and Micro-Mechatronic Systems (AS2M) department. It is above all the result of my (co)-supervis…
View article: Automatic laser steering for middle ear surgery
Automatic laser steering for middle ear surgery Open
This paper deals with the control of laser spot in the context of minimally invasive surgery of the middle ear, e.g., cholesteatoma removal. More precisely, our work is concerned with the exhaustive burring of residual infected cells after…
View article: Robust RGB-D Fusion for Saliency Detection
Robust RGB-D Fusion for Saliency Detection Open
Efficiently exploiting multi-modal inputs for accurate RGB-D saliency detection is a topic of high interest. Most existing works leverage cross-modal interactions to fuse the two streams of RGB-D for intermediate features' enhancement. In …
View article: 3D Curvature-Based Tip Load Estimation for Continuum Robots
3D Curvature-Based Tip Load Estimation for Continuum Robots Open
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View article: Grasp Transfer for Deformable Objects by Functional Map Correspondence
Grasp Transfer for Deformable Objects by Functional Map Correspondence Open
Handling object deformations for robotic grasping is still a major problem to solve. In this paper, we propose an efficient learning-free solution for this problem where generated grasp hypotheses of a region of an object are adapted to it…
View article: Hybrid controllers for middle ear surgery: towards efficient cholesteatoma removal
Hybrid controllers for middle ear surgery: towards efficient cholesteatoma removal Open
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View article: Shared Control Schemes for Middle Ear Surgery
Shared Control Schemes for Middle Ear Surgery Open
This paper deals with the control of a redundant cobot arm to accomplish peg-in-hole insertion tasks in the context of middle ear surgery. It mainly focuses on the development of two shared control laws that combine local measurements prov…