Related papers: 3D endoscopic depth estimation using 3D surface-aw…
It is vital to infer a signed distance function (SDF) in multi-view based surface reconstruction. 3D Gaussian splatting (3DGS) provides a novel perspective for volume rendering, and shows advantages in rendering efficiency and quality.…
Monocular depth estimation is crucial for tracking and reconstruction algorithms, particularly in the context of surgical videos. However, the inherent challenges in directly obtaining ground truth depth maps during surgery render…
We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…
We present Implicit-Scale 3D Reconstruction from Monocular Multi-Food Images, a benchmark dataset designed to advance geometry-based food portion estimation in realistic dining scenarios. Existing dietary assessment methods largely rely on…
Spherical cameras capture scenes in a holistic manner and have been used for room layout estimation. Recently, with the availability of appropriate datasets, there has also been progress in depth estimation from a single omnidirectional…
Self-supervised surround-view depth estimation enables dense, low-cost 3D perception with a 360{\deg} field of view from multiple minimally overlapping images. Yet, most existing methods suffer from depth estimates that are inconsistent…
Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…
Estimating the remaining surgery duration (RSD) during surgical procedures can be useful for OR planning and anesthesia dose estimation. With the recent success of deep learning-based methods in computer vision, several neural network…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
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 technique to reconstruct 3D surface of an underwater object using stereo images. Reconstructing the 3D surface of an underwater object is really a challenging task due to degraded quality of underwater…
3D scene reconstruction is a long-standing vision task. Existing approaches can be categorized into geometry-based and learning-based methods. The former leverages multi-view geometry but can face catastrophic failures due to the reliance…
Monocular depth estimation is critical for endoscopists to perform spatial perception and 3D navigation of surgical sites. However, most of the existing methods ignore the important geometric structural consistency, which inevitably leads…
Existing 3D surface representation approaches are unable to accurately classify pixels and their orientation lying on the boundary of an object. Thus resulting in coarse representations which usually require post-processing steps to extract…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…
New sensing technologies and more advanced processing algorithms are transforming computer-integrated surgery. While researchers are actively investigating depth sensing and 3D reconstruction for vision-based surgical assistance, it remains…
Recovering the metric 3D shape from a single image is particularly relevant for robotics and embodied intelligence applications, where accurate spatial understanding is crucial for navigation and interaction with environments. Usually, the…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…