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In this paper, we introduce SLAM3R, a novel and effective system for real-time, high-quality, dense 3D reconstruction using RGB videos. SLAM3R provides an end-to-end solution by seamlessly integrating local 3D reconstruction and global…

Low-light image enhancement tasks demand an appropriate balance among brightness, color, and illumination. While existing methods often focus on one aspect of the image without considering how to pay attention to this balance, which will…

Low-light image enhancement (LLIE) aims to improve the illuminance of images due to insufficient light exposure. Recently, various lightweight learning-based LLIE methods have been proposed to handle the challenges of unfavorable prevailing…

Complete reconstruction of surgical scenes is crucial for robot-assisted surgery (RAS). Deep depth estimation is promising but existing works struggle with depth discontinuities, resulting in noisy predictions at object boundaries and do…

We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient…

Image-based camera relocalization is an important problem in computer vision and robotics. Recent works utilize convolutional neural networks (CNNs) to regress for pixels in a query image their corresponding 3D world coordinates in the…

Spatial computer vision techniques have the potential to improve the diagnostic performance of colonoscopy. However, the lack of 3D colonoscopy datasets for training and validation hinders their development. This paper introduces C3VDv2,…

The lack of labeled datasets in 3D vision for surgical scenes inhibits the development of robust 3D reconstruction algorithms in the medical domain. Despite the popularity of Neural Radiance Fields and 3D Gaussian Splatting in the general…

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 endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…

We propose an approach to reconstruct dense three-dimensional (3D) model of tissue surface from stereo optical videos in real-time, the basic idea of which is to first extract 3D information from video frames by using stereo matching, and…

Limited angular resolution is one of the main obstacles for practical applications of light fields. Although numerous approaches have been proposed to enhance angular resolution, view selection strategies have not been well explored in this…

Contrast-enhanced Computed Tomography (CT) is important for diagnosis and treatment planning for various medical conditions. Deep learning (DL) based segmentation models may enable automated medical image analysis for detecting and…

Endoluminal endoscopic procedures are essential for diagnosing colorectal cancer and other severe conditions in the digestive tract, urogenital system, and airways. 3D reconstruction and novel-view synthesis from endoscopic images are…

We present a computer-aided detection algorithm for polyps in optical colonoscopy images. Polyps are the precursors to colon cancer. In the US alone, more than 14 million optical colonoscopies are performed every year, mostly to screen for…

In inertial confinement fusion (ICF), X-ray radiography is a critical diagnostic for measuring implosion dynamics, which contains rich 3D information. Traditional methods for reconstructing 3D volumes from 2D radiographs, such as filtered…

Visual SLAM (Simultaneous Localization and Mapping) methods typically rely on handcrafted visual features or raw RGB values for establishing correspondences between images. These features, while suitable for sparse mapping, often lead to…

We introduce ColonSLAM, a system that combines classical multiple-map metric SLAM with deep features and topological priors to create topological maps of the whole colon. The SLAM pipeline by itself is able to create disconnected individual…

Colonoscopic video retrieval, which is a critical part of polyp treatment, has great clinical significance for the prevention and treatment of colorectal cancer. However, retrieval models trained on action recognition datasets usually…

Image restoration is a low-level visual task, and most CNN methods are designed as black boxes, lacking transparency and intrinsic aesthetics. Many unsupervised approaches ignore the degradation of visible information in low-light scenes,…