Related papers: Learning-Based Depth and Pose Estimation for Monoc…

Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…

Depth estimation is a crucial step for image-guided intervention in robotic surgery and laparoscopic imaging system. Since per-pixel depth ground truth is difficult to acquire for laparoscopic image data, it is rarely possible to apply…

Depth estimation is a foundational component for 3D reconstruction in minimally invasive endoscopic surgeries. However, existing monocular depth estimation techniques often exhibit limited performance to the varying illumination and complex…

We present Ego3DPose, a highly accurate binocular egocentric 3D pose reconstruction system. The binocular egocentric setup offers practicality and usefulness in various applications, however, it remains largely under-explored. It has been…

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. We achieve this by simultaneously training depth and camera pose estimation networks using the…

This contribution shows how an appropriate image pre-processing can improve a deep-learning based 3D reconstruction of colon parts. The assumption is that, rather than global image illumination corrections, local under- and over-exposures…

Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…

Deducing a 3D human pose from a single 2D image is inherently challenging because multiple 3D poses can correspond to the same 2D representation. 3D data can resolve this pose ambiguity, but it is expensive to record and requires an…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

Endoscopy plays a major role in identifying any underlying abnormalities within the gastrointestinal (GI) tract. There are multiple GI tract diseases that are life-threatening, such as precancerous lesions and other intestinal cancers. In…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

3D human shape and pose estimation from monocular images has been an active area of research in computer vision, having a substantial impact on the development of new applications, from activity recognition to creating virtual avatars.…

Estimating a scene reconstruction and the camera motion from in-body videos is challenging due to several factors, e.g. the deformation of in-body cavities or the lack of texture. In this paper we present Endo-Depth-and-Motion, a pipeline…

Conventional Endoscopy (CE) and Wireless Capsule Endoscopy (WCE) are known tools for diagnosing gastrointestinal (GI) tract disorders. Detecting the anatomical location of GI tract can help clinicians to determine a more appropriate…

The ability to accurately estimate depth information is crucial for many autonomous applications to recognize the surrounded environment and predict the depth of important objects. One of the most recently used techniques is monocular depth…

Dense depth estimation and 3D reconstruction of a surgical scene are crucial steps in computer assisted surgery. Recent work has shown that depth estimation from a stereo images pair could be solved with convolutional neural networks.…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…