Related papers: Comparison of Depth Estimation Setups from Stereo …
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required they could make a difference. One such application is robot-assisted retinal microsurgery.…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…
Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…
Three-dimensional facial stereophotogrammetry provides a detailed representation of craniofacial soft tissue without the use of ionizing radiation. While manual annotation of landmarks serves as the current gold standard for cephalometric…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
Accurate visualization of interventional devices, such as medical needles, is essential for the safe and effective guidance of minimally invasive procedures. Ultrasound (US) imaging is widely used for needle guidance, but the…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
Multi-view stereo (MVS) is the golden mean between the accuracy of active depth sensing and the practicality of monocular depth estimation. Cost volume based approaches employing 3D convolutional neural networks (CNNs) have considerably…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Periacetabular osteotomy is a challenging surgical procedure for treating developmental hip dysplasia, providing greater coverage of the femoral head via relocation of a patient's acetabulum. Since fluoroscopic imaging is frequently used in…
Accurate stereo depth estimation plays a critical role in various 3D tasks in both indoor and outdoor environments. Recently, learning-based multi-view stereo methods have demonstrated competitive performance with a limited number of views.…
Mitral valve repair is a very difficult operation, often requiring experienced surgeons. The doctor will insert a prosthetic ring to aid in the restoration of heart function. The location of the prosthesis' sutures is critical. Obtaining…
This paper as technology report is focusing on evaluation and performance about depth estimations based on lidar data and stereo images(front left and front right). The lidar 3d cloud data and stereo images are provided by ford. In…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…
Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…
Stereo-based depth estimation is a cornerstone of computer vision, with state-of-the-art methods delivering accurate results in real time. For several applications such as autonomous navigation, however, it may be useful to trade accuracy…