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

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

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, Fei Wang, Kwang Moo Yi, Zheng Dang, 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, Fei Wang, Kwang Moo Yi, Zheng Dang, Yinlin Hu

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, Fei Wang, Xinchao 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, Fei Wang, Evren Samur

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, Fei Wang, Etienne Burdet

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, Ulrich Spälter, Fei Wang, Evren Samur

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, Ulrich Spälter, Fei Wang, Evren Samur

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

Knot-tying with Visual and Force Feedback for VR Laparoscopic Training

Hannes Bleuler, Fei Wang, Etienne Burdet

Real-time simulation of thread and knot-tying with visual and force feedback is an essential part of virtual reality laparoscopic training. This paper presents a physics-based thread simulator that enables realistic knot tying at haptic rendering rate. The ...

2005

Dynamic thread for real-time knot-tying

Ankur Dhanik, Fei Wang, Etienne Burdet

Real-time simulation of knot-tying with visual and force feedback is essential to VR surgery training. We present a physics-based simulator that enables realistic knot tying at haptic speed. The virtual thread obeys Newton's laws and behaves naturally. The ...

2005