Related papers: An adaptive and fully automatic method for estimat…

Optical colonoscopy is an essential diagnostic and prognostic tool for many gastrointestinal diseases, including cancer screening and staging, intestinal bleeding, diarrhea, abdominal symptom evaluation, and inflammatory bowel disease…

In this paper, we propose a Monocular 3D Single Stage object Detector (M3DSSD) with feature alignment and asymmetric non-local attention. Current anchor-based monocular 3D object detection methods suffer from feature mismatching. To…

Accurate and fast 3D imaging of specular surfaces still poses major challenges for state-of-the-art optical measurement principles. Frequently used methods, such as phase-measuring deflectometry (PMD) or shape-from-polarization (SfP), rely…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…

Hand pose represents key information for action recognition in the egocentric perspective, where the user is interacting with objects. We propose to improve egocentric 3D hand pose estimation based on RGB frames only by using pseudo-depth…

We demonstrate a new versatile method for 3D super-resolution microscopy by using a deformable mirror to shape the point spread function of our microscope in a continuous and controllable way. We apply this for 3D STORM imaging of…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Reconstructing deformable surgical scenes from endoscopic videos is challenging and clinically important. Recent state-of-the-art methods based on implicit neural representations or 3D Gaussian splatting have made notable progress. However,…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Most realtime human pose estimation approaches are based on detecting joint positions. Using the detected joint positions, the yaw and pitch of the limbs can be computed. However, the roll along the limb, which is critical for application…

Localization microscopy is an imaging technique in which the positions of individual nanoscale point emitters (e.g. fluorescent molecules) are determined at high precision from their images. This is the key ingredient in…

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for…