Related papers: MultiViPerFrOG: A Globally Optimized Multi-Viewpoi…

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…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

Surgical scene simulation plays a crucial role in surgical education and simulator-based robot learning. Traditional approaches for creating these environments with surgical scene involve a labor-intensive process where designers hand-craft…

We propose DeepMultiCap, a novel method for multi-person performance capture using sparse multi-view cameras. Our method can capture time varying surface details without the need of using pre-scanned template models. To tackle with the…

Recently, deep-learning-based approaches have been widely studied for deformable image registration task. However, most efforts directly map the composite image representation to spatial transformation through the convolutional neural…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

3D human motion capture from monocular RGB images respecting interactions of a subject with complex and possibly deformable environments is a very challenging, ill-posed and under-explored problem. Existing methods address it only weakly…

Surgical navigation based on multimodal image registration has played a significant role in providing intraoperative guidance to surgeons by showing the relative position of the target area to critical anatomical structures during surgery.…

Surgery is a high-stakes domain where surgeons must navigate critical anatomical structures and actively avoid potential complications while achieving the main task at hand. Such surgical activity has been shown to affect long-term patient…

We present a novel algorithm for Fast Registration Of image Groups (FROG), applied to large 3D image groups. Our approach extracts 3D SURF keypoints from images, computes matched pairs of keypoints and registers the group by minimizing pair…

Dynamic scene reconstruction is a long-term challenge in 3D vision. Recent methods extend 3D Gaussian Splatting to dynamic scenes via additional deformation fields and apply explicit constraints like motion flow to guide the deformation.…

A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…

3D Gaussian Splatting has demonstrated remarkable real-time rendering capabilities and superior visual quality in novel view synthesis for static scenes. Building upon these advantages, researchers have progressively extended 3D Gaussians…

Recent studies on motion estimation have advocated an optimized motion representation that is globally consistent across the entire video, preferably for every pixel. This is challenging as a uniform representation may not account for the…

Reconstructing an accurate 3D object model from a few image observations remains a challenging problem in computer vision. State-of-the-art approaches typically assume accurate camera poses as input, which could be difficult to obtain in…

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…

In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on…