Publications de Fei Wang | EPFL Graph Search

Multi-Source Fusion for Voxel-Based 7-DoF Grasping Pose Estimation

In this work, we tackle the problem of 7-DoF grasping pose estimation(6-DoF with the opening width of parallel-jaw gripper) from point cloud data, which is a fundamental task in robotic manipulation. Most existing methods adopt 3D voxel CNNs as the backbon ...

IEEE2023

PROFACTORY: Improving IoT Security via Formalized Protocol Customization

Mathias Josef Payer, Fei Wang, Duo Xu, Xiangyu Zhang

As IoT applications gain widespread adoption, it becomes important to design and implement IoT protocols with security. Existing research in protocol security reveals that the majority of disclosed protocol vulnerabilities are caused by incorrectly impleme ...

USENIX ASSOC2022

Eigendecomposition-Free Training of Deep Networks for Linear Least-Square Problems

Pascal Fua, Mathieu Salzmann, Zheng Dang, Kwang Moo Yi, Fei Wang, Yinlin Hu

Many classical Computer Vision problems, such as essential matrix computation and pose estimation from 3D to 2D correspondences, can be tackled by solving a linear least-square problem, which can be done by finding the eigenvector corresponding to the smal ...

IEEE COMPUTER SOC2021

Eigendecomposition-free Training of Deep Networks with Zero Eigenvalue-based Losses

Pascal Fua, Mathieu Salzmann, Kwang Moo Yi, Zheng Dang, Yinlin Hu, Fei Wang

Many classical Computer Vision problems, such as essential matrix computation and pose estimation from 3D to 2D correspondences, can be solved by ﬁnding the eigenvector corresponding to the smallest, or zero, eigenvalue of a matrix representing a linear sy ...

2018

Template-free 3D Reconstruction of Poorly-textured Nonrigid Surfaces

Mathieu Salzmann, Xinchao Wang, Fei Wang

Two main classes of approaches have been studied to perform monocular nonrigid 3D reconstruction: Template-based methods and Non-rigid Structure from Motion techniques. While the first ones have been applied to reconstruct poorly-textured surfaces, they as ...

Springer Int Publishing Ag2016

VR simulation of interventional radiology and microsurgery

Fei Wang

Currently trainees typically learn surgery techniques directly on mocks, animals or cadavers. For safety, cost and ethics reasons, one cannot try all possible strategies to achieve efficient learning. Virtual Reality (VR) based surgery training systems int ...

EPFL2009

A Real-Time Simulator for Interventional Radiology

Hannes Bleuler, Lindo Robert Duratti, Evren Samur, Fei Wang

Interventional radiologists manipulate guidewires and catheters and steer stents through the patient’s vascular system under X-ray imaging for treatment of vascular diseases. The complexity of these procedures makes trainingmandatory in order to master han ...

2008

Development of a Microsurgery Training System

Hannes Bleuler, Etienne Burdet, Fei Wang

Surgeons require significant training to acquire sufficient dexterity and hand-eye coordination to manipulate objects skilfully under the microscope. This paper presents a computer-based real-time simulation of microsurgery as well as the hardware setup. I ...

IEEE2008

A Computer-Based Real-Time Simulation of Interventional Radiology

Hannes Bleuler, Lindo Robert Duratti, Evren Samur, Ulrich Spälter, Fei Wang

Interventional radiology is a minimally invasive procedure where thin instruments, guidewires and catheters or stents are steered through the patient’s vascular system under X- ray imaging for treatment of vascular diseases. The complexity of these procedu ...

2007

Generic and Systematic Evaluation of Haptic Interfaces Based on Testbeds

Hannes Bleuler, Fei Wang, Evren Samur, Ulrich Spälter

The purpose of evaluation procedures is to achieve both qualitative and quantitative statements on haptic rendering realism and performance. Since a haptic interface provides an interaction between a user and a virtual environment, fidelity of a haptic int ...

IEEE2007