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Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current methods have seen significant improvements in both reconstruction…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…

Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Deformable image registration is one of the fundamental tasks in medical imaging. Classical registration algorithms usually require a high computational cost for iterative optimizations. Although deep-learning-based methods have been…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

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…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

We present a unified perspective on tackling various human-centric video tasks by learning human motion representations from large-scale and heterogeneous data resources. Specifically, we propose a pretraining stage in which a motion…

Generating realistic intermediate shapes between non-rigidly deformed shapes is a challenging task in computer vision, especially with unstructured data (e.g., point clouds) where temporal consistency across frames is lacking, and…

Image denoising is of great importance for medical imaging system, since it can improve image quality for disease diagnosis and downstream image analyses. In a variety of applications, dynamic imaging techniques are utilized to capture the…

In this paper, we aim to model 3D scene dynamics from multi-view videos. Unlike the majority of existing works which usually focus on the common task of novel view synthesis within the training time period, we propose to simultaneously…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness. Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras…

In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…

Deformation field estimation is an important and challenging issue in many medical image registration applications. In recent years, deep learning technique has become a promising approach for simplifying registration problems, and has been…

Multi-focus image fusion (MFF) is a popular technique to generate an all-in-focus image, where all objects in the scene are sharp. However, existing methods pay little attention to defocus spread effects of the real-world multi-focus…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

Efficient and accurate 3D reconstruction is crucial for various applications, including augmented and virtual reality, medical imaging, and cinematic special effects. While traditional Multi-View Stereo (MVS) systems have been fundamental…