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Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
3D colon reconstruction from Optical Colonoscopy (OC) to detect non-examined surfaces remains an unsolved problem. The challenges arise from the nature of optical colonoscopy data, characterized by highly reflective low-texture surfaces,…
Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…
Colonoscopy is the choice procedure to diagnose colon and rectum cancer, from early detection of small precancerous lesions (polyps), to confirmation of malign masses. However, the high variability of the organ appearance and the complex…
Single-image 3D reconstruction with large reconstruction models (LRMs) has advanced rapidly, yet reconstructions often exhibit geometric inconsistencies and misaligned details that limit fidelity. We introduce GeoFusionLRM, a geometry-aware…
In surgical oncology, screening colonoscopy plays a pivotal role in providing diagnostic assistance, such as biopsy, and facilitating surgical navigation, particularly in polyp detection. Computer-assisted endoscopic surgery has recently…
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…
Monocular 3D object detection has attracted great attention for its advantages in simplicity and cost. Due to the ill-posed 2D to 3D mapping essence from the monocular imaging process, monocular 3D object detection suffers from inaccurate…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
Objective: Depth estimation is crucial for endoscopic navigation and manipulation, but obtaining ground-truth depth maps in real clinical scenarios, such as the colon, is challenging. This study aims to develop a robust framework that…
Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…
We propose a topological mapping and localization system able to operate on real human colonoscopies, despite significant shape and illumination changes. The map is a graph where each node codes a colon location by a set of real images,…
Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…
3D Gaussian Splatting (3DGS) enables real-time view synthesis in colonoscopy but assumes static illumination, making it incompatible with the strong photometric variations caused by the moving light source and camera. This mismatch leads…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…
Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…
Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…
Emerging 3D geometric foundation models, such as DUSt3R, offer a promising approach for in-the-wild 3D vision tasks. However, due to the high-dimensional nature of the problem space and scarcity of high-quality 3D data, these pre-trained…
Colonoscopy is the most common procedure for early detection and removal of polyps, a critical component of colorectal cancer prevention. Insufficient visual coverage of the colon surface during the procedure often results in missed polyps.…
Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…