Related papers: Learning How To Robustly Estimate Camera Pose in E…
Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumption due to persistent soft-tissue deformations, creating a…
Objective: Surgical data science is evolving into a research field that aims to observe everything occurring within and around the treatment process to provide situation-aware data-driven assistance. In the context of endoscopic video…
This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…
Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…
Robust estimation of the essential matrix, which encodes the relative position and orientation of two cameras, is a fundamental step in structure from motion pipelines. Recent deep-based methods achieved accurate estimation by using complex…
Finding the camera pose is an important step in many egocentric video applications. It has been widely reported that, state of the art SLAM algorithms fail on egocentric videos. In this paper, we propose a robust method for camera pose…
Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…
Accurately estimating the pose of an object is a crucial task in computer vision and robotics. There are two main deep learning approaches for this: geometric representation regression and iterative refinement. However, these methods have…
Endoscopic surgery is the gold standard for robotic-assisted minimally invasive surgery, offering significant advantages in early disease detection and precise interventions. However, the complexity of surgical scenes, characterized by high…
A significant challenge in image-guided surgery is the accurate measurement task of relevant structures such as vessel segments, resection margins, or bowel lengths. While this task is an essential component of many surgeries, it involves…
Temporal modeling and spatio-temporal collaboration are pivotal techniques for video-based human pose estimation. Most state-of-the-art methods adopt optical flow or temporal difference, learning local visual content correspondence across…
Real-time acquisition of accurate scene depth is essential for automated robotic minimally invasive surgery. Stereo matching with binocular endoscopy can provide this depth information. However, existing stereo matching methods, designed…
Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…
Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…
Model-based human pose estimation is currently approached through two different paradigms. Optimization-based methods fit a parametric body model to 2D observations in an iterative manner, leading to accurate image-model alignments, but are…
Depth perception is crucial for spatial understanding and has traditionally been achieved through stereoscopic imaging. However, the precision of depth estimation using stereoscopic methods depends on the accurate calibration of binocular…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
Endoscopy is a crucial tool for diagnosing the gastrointestinal tract, but its effectiveness is often limited by a narrow field of view and the dynamic nature of the internal environment, especially in the esophagus, where complex and…