Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Tracking

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop approaches often suffer from overlooking the interaction dynamics. To address this limitation, we present a closed-loop pipeline integrating interactive perception with online axis estimation from segmented 3D point clouds. Our method leverages any interactive perception technique as a foundation for interactive perception, inducing slight object movement to generate point cloud frames of the evolving dynamic scene. These point clouds are then segmented using Segment Anything Model 2 (SAM2), after which the moving part of the object is masked for accurate motion online axis estimation, guiding subsequent robotic actions. Our approach significantly enhances the precision and efficiency of manipulation tasks involving articulated objects. Experiments in simulated environments demonstrate that our method outperforms baseline approaches, especially in tasks that demand precise axis-based control. Project Page: https://hytidel.github.io/video-tracking-for-axis-estimation/.

An Integrated Visual Analytics System for Studying Clinical Carotid Artery Plaques

Carotid artery plaques can cause arterial vascular diseases such as stroke and myocardial infarction, posing a severe threat to human life. However, the current clinical examination mainly relies on a direct assessment by physicians of patients' clinical indicators and medical images, lacking an integrated visualization tool for analyzing the influencing factors and composition of carotid artery plaques. We have designed an intelligent carotid artery plaque visual analysis system for vascular surgery experts to comprehensively analyze the clinical physiological and imaging indicators of carotid artery diseases. The system mainly includes two functions: First, it displays the correlation between carotid artery plaque and various factors through a series of information visualization methods and integrates the analysis of patient physiological indicator data. Second, it enhances the interface guidance analysis of the inherent correlation between the components of carotid artery plaque through machine learning and displays the spatial distribution of the plaque on medical images. Additionally, we conducted two case studies on carotid artery plaques using real data obtained from a hospital, and the results indicate that our designed carotid analysis system can effectively provide clinical diagnosis and treatment guidance for vascular surgeons.