Related papers: Sparse-then-Dense Alignment based 3D Map Reconstru…
In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…
Video capsule endoscopy has become increasingly important for investigating the small intestine within the gastrointestinal tract. However, a persistent challenge remains the short battery lifetime of such compact sensor edge devices.…
Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from…
Deep learning has the potential to improve colonoscopy by enabling 3D reconstruction of the colon, providing a comprehensive view of mucosal surfaces and lesions, and facilitating the identification of unexplored areas. However, the…
Pipe inspection is a critical task for many industries and infrastructure of a city. The 3D information of a pipe can be used for revealing the deformation of the pipe surface and position of the camera during the inspection. In this paper,…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
The rapid development of 3D technology and computer vision applications have motivated a thrust of methodologies for depth acquisition and estimation. However, most existing hardware and software methods have limited performance due to poor…
We propose a straightforward method that simultaneously reconstructs the 3D facial structure and provides dense alignment. To achieve this, we design a 2D representation called UV position map which records the 3D shape of a complete face…
Computed tomography has propelled scientific advances in fields from biology to materials science. This technology allows for the elucidation of 3-dimensional internal structure by the attenuation of x-rays through an object at different…
Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have…
In surgical oncology, screening colonoscopy plays a pivotal role in providing diagnostic assistance, such as biopsy, and facilitating surgical navigation, particularly in polyp detection. Computer-assisted endoscopic surgery has recently…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
In robot-assisted minimally invasive surgery, accurate 3D reconstruction from endoscopic video is vital for downstream tasks and improved outcomes. However, endoscopic scenarios present unique challenges, including photometric…
In this paper, we propose a novel approach to reconstruct 3D human body shapes based on a sparse set of RGBD frames using a single RGBD camera. We specifically focus on the realistic settings where human subjects move freely during the…
BACKGROUND AND OBJECTIVE: Patient positioning is a crucial step in radiation therapy, for which non-invasive methods have been developed based on surface reconstruction using optical 3D imaging. However, most solutions need expensive…
It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…
Although wireless capsule endoscopy is the preferred modality for diagnosis and assessment of small bowel diseases, the poor camera resolution is a substantial limitation for both subjective and automated diagnostics. Enhanced-resolution…
The interpretation and analysis of the wireless capsule endoscopy recording is a complex task which requires sophisticated computer aided decision (CAD) systems in order to help physicians with the video screening and, finally, with the…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Direct automatic segmentation of objects from 3D medical imaging, such as magnetic resonance (MR) imaging, is challenging as it often involves accurately identifying a number of individual objects with complex geometries within a large…