Related papers: Endo-FASt3r: Endoscopic Foundation model Adaptatio…
As the current initialization method in the state-of-the-art Stereo Visual-Inertial SLAM framework, ORB-SLAM3 has limitations. Its success depends on the performance of the pure stereo SLAM system and is based on the underlying assumption…
Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…
Depth estimation is a crucial step for image-guided intervention in robotic surgery and laparoscopic imaging system. Since per-pixel depth ground truth is difficult to acquire for laparoscopic image data, it is rarely possible to apply…
Endoscopic surgery relies on two-dimensional views, posing challenges for surgeons in depth perception and instrument manipulation. While Monocular Visual Simultaneous Localization and Mapping (MVSLAM) has emerged as a promising solution,…
Estimating depth from a single 2D image is a challenging task due to the lack of stereo or multi-view data, which are typically required for depth perception. In state-of-the-art architectures, the main challenge is to efficiently capture…
In the RoboCup Small Size League (SSL), teams are encouraged to propose solutions for executing basic soccer tasks inside the SSL field using only embedded sensing information. Thus, this work proposes an embedded monocular vision approach…
Real-time, high-fidelity monocular depth estimation from remote sensing imagery is crucial for numerous applications, yet existing methods face a stark trade-off between accuracy and efficiency. Although using Vision Transformer (ViT)…
The regression of 3D Human Pose and Shape (HPS) from an image is becoming increasingly accurate. This makes the results useful for downstream tasks like human action recognition or 3D graphics. Yet, no regressor is perfect, and accuracy can…
Vision-based 6-DOF bronchoscopy localization offers a promising solution for accurate and cost-effective interventional guidance. However, existing methods struggle with 1) limited generalization across patient cases due to scarce labeled…
Recent advances in vision foundation models have revolutionized geometry reconstruction and semantic understanding. Yet, most of the existing approaches treat these capabilities in isolation, leading to redundant pipelines and compounded…
This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential…
Reconstructing high-quality 3D models from sparse 2D images has garnered significant attention in computer vision. Recently, 3D Gaussian Splatting (3DGS) has gained prominence due to its explicit representation with efficient training speed…
Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…
Super-resolution (SR) models are attracting growing interest for enhancing minimally invasive surgery and diagnostic videos under hardware constraints. However, valid concerns remain regarding the introduction of hallucinated structures and…
Accurate monocular depth estimation is critical in colonoscopy for lesion localization and navigation. Foundation models trained on natural images fail to generalize directly to colonoscopy. We identify the core issue not as a semantic gap,…
In this work we investigate the viability of foundational AI/ML models for Synthetic Aperture Radar (SAR) object recognition tasks. We are inspired by the tremendous progress being made in the wider community, particularly in the natural…
For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…
Monocular 3D Visual Grounding (Mono3DVG) is an emerging task that locates 3D objects in RGB images using text descriptions with geometric cues. However, existing methods face two key limitations. Firstly, they often over-rely on…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…