Related papers: PERSEUS: Perception with Semantic Endoscopic Under…
Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…
We propose SLARM, a feed-forward model that unifies dynamic scene reconstruction, semantic understanding, and real-time streaming inference. SLARM captures complex, non-uniform motion through higher-order motion modeling, trained solely on…
Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense monocular reconstruction. We propose…
In this work, we introduce a fast and accurate method for unsupervised 3D medical image registration. This work is built on top of a recent algorithm SAM, which is capable of computing dense anatomical/semantic correspondences between two…
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…
We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…
Recent advancements in Simultaneous Localization and Mapping (SLAM) have increasingly highlighted the robustness of LiDAR-based techniques. At the same time, Neural Radiance Fields (NeRF) have introduced new possibilities for 3D scene…
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…
Current methods for pathology image segmentation typically treat 2D slices independently, ignoring valuable cross-slice information. We present PathSeqSAM, a novel approach that treats 2D pathology slices as sequential video frames using…
Semantic segmentation is a computer vision task where classification is performed at a pixel level. Due to this, the process of labeling images for semantic segmentation is time-consuming and expensive. To mitigate this cost there has been…
To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…
Accurate spatial understanding is essential for image-guided surgery, augmented reality integration and context awareness. In minimally invasive procedures, where visual input is the sole intraoperative modality, establishing precise…
The semantic image segmentation task consists of classifying each pixel of an image into an instance, where each instance corresponds to a class. This task is a part of the concept of scene understanding or better explaining the global…
We present a novel method for intraoperative patient-to-image registration by learning Expected Appearances. Our method uses preoperative imaging to synthesize patient-specific expected views through a surgical microscope for a predicted…
Ultrasound Localization Microscopy (ULM) has recently enabled the mapping of the cerebral vasculature in vivo with a resolution ten times smaller than the wavelength used, down to ten microns. However, with frame rates up to 20.000 frames…
Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…
We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from…
Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…