Related papers: Learning How To Robustly Estimate Camera Pose in E…
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…
3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…
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…
Localizing oneself during endoscopic procedures can be problematic due to the lack of distinguishable textures and landmarks, as well as difficulties due to the endoscopic device such as a limited field of view and challenging lighting…
We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…
In endoscopic surgery, surgeons continuously locate the endoscopic view relative to the anatomy by interpreting the evolving visual appearance of the intraoperative scene in the context of their prior knowledge. Vision-based navigation…
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…
Depth estimation plays a crucial role in various tasks within endoscopic surgery, including navigation, surface reconstruction, and augmented reality visualization. Despite the significant achievements of foundation models in vision tasks,…
The SCARED dataset is a widely used benchmark for endoscopic depth estimation, offering ground-truth 3D reconstructions captured with a structured light sensor. However, the depth maps for non-keyframe images rely on robot kinematics that…
Reconstruction of endoscopic scenes is an important asset for various medical applications, from post-surgery analysis to educational training. Neural rendering has recently shown promising results in endoscopic reconstruction with…
Monocular depth and pose estimation play an important role in the development of colonoscopy-assisted navigation, as they enable improved screening by reducing blind spots, minimizing the risk of missed or recurrent lesions, and lowering…
It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…
Tissue deformation recovery based on stereo endoscopic images is crucial for tool-tissue interaction analysis and benefits surgical navigation and autonomous soft tissue manipulation. Previous research suffers from the problems raised from…
Adaptation methods are developed to adapt depth foundation models to endoscopic depth estimation recently. However, such approaches typically under-perform training since they limit the parameter search to a low-rank subspace and alter the…
We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…
Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…
Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…
Depth estimation in surgical video plays a crucial role in many image-guided surgery procedures. However, it is difficult and time consuming to create depth map ground truth datasets in surgical videos due in part to inconsistent brightness…
Gastroendoscopy has been a clinical standard for diagnosing and treating conditions that affect a part of a patient's digestive system, such as the stomach. Despite the fact that gastroendoscopy has a lot of advantages for patients, there…