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High-quality 3D reconstructions from endoscopy video play an important role in many clinical applications, including surgical navigation where they enable direct video-CT registration. While many methods exist for general multi-view 3D…

The lack of labeled datasets in 3D vision for surgical scenes inhibits the development of robust 3D reconstruction algorithms in the medical domain. Despite the popularity of Neural Radiance Fields and 3D Gaussian Splatting in the general…

Large-scale volumetric medical images with annotation are rare, costly, and time prohibitive to acquire. Self-supervised learning (SSL) offers a promising pre-training and feature extraction solution for many downstream tasks, as it only…

Single-image depth estimation is essential for endoscopy tasks such as localization, reconstruction, and augmented reality. Most existing methods in surgical scenes focus on in-domain depth estimation, limiting their real-world…

In medical imaging, the heterogeneity of multi-centre data impedes the applicability of deep learning-based methods and results in significant performance degradation when applying models in an unseen data domain, e.g. a new centreor a new…

Automated endoscopy video analysis is a challenging task in medical computer vision, with the primary objective of assisting surgeons during procedures. The difficulty arises from the complexity of surgical scenes and the lack of a…

While recent feed-forward 3D reconstruction models provide a strong geometric foundation for scene understanding, extending them to 3D instance segmentation typically relies on a disjointed "lift-and-cluster" paradigm. Grouping dense…

In this paper, we present a new algorithm for fast, online 3D reconstruction of dynamic scenes using times of arrival of photons recorded by single-photon detector arrays. One of the main challenges in 3D imaging using single-photon lidar…

Recent advances in DUSt3R have enabled robust estimation of dense point clouds and camera parameters of static scenes, leveraging Transformer network architectures and direct supervision on large-scale 3D datasets. In contrast, the limited…

3D scene reconstruction from stereo endoscopic video data is crucial for advancing surgical interventions. In this work, we present an online framework for online, dense 3D scene reconstruction and tracking, aimed at enhancing surgical…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

Monocular depth estimation is crucial for tracking and reconstruction algorithms, particularly in the context of surgical videos. However, the inherent challenges in directly obtaining ground truth depth maps during surgery render…

It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that…

We present ReFlow, a unified framework for monocular dynamic scene reconstruction that learns 3D motion in a novel self-correction manner from raw video. Existing methods often suffer from incomplete scene initialization for dynamic…

Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Confocal laser endomicroscopy (CLE) is a non-invasive, real-time imaging modality that can be used for in-situ, in-vivo imaging and the microstructural analysis of mucous structures. The diagnosis using CLE is, however, complicated by…

Coded aperture imaging systems have recently shown great success in recovering scene depth and extending the depth-of-field. The ideal pattern, however, would have to serve two conflicting purposes: 1) be broadband to ensure robust…

Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…