Related papers: G-SHARP: Gaussian Surgical Hardware Accelerated Re…
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…
Surgical simulation is essential for medical training, enabling practitioners to develop crucial skills in a risk-free environment while improving patient safety and surgical outcomes. However, conventional methods for building simulation…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
Reconstructing deformable tissues from endoscopic videos is essential in many downstream surgical applications. However, existing methods suffer from slow rendering speed, greatly limiting their practical use. In this paper, we introduce…
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Channel state information (CSI) is essential for adaptive beamforming and maintaining robust links in wireless communication systems. However, acquiring CSI incurs significant overhead, consuming up to 25% of spectrum resources in 5G…
Accurate geometric reconstruction of deformable tissues in monocular endoscopic video remains a fundamental challenge in robot-assisted minimally invasive surgery. Although recent volumetric and point primitive methods based on neural…
Minimally invasive surgery (MIS) requires high-fidelity, real-time visual feedback of dynamic and low-texture surgical scenes. To address these requirements, we introduce FeatureEndo-4DGS (FE-4DGS), the first real time pipeline leveraging…
Surgical reconstruction of dynamic tissues from endoscopic videos is a crucial technology in robot-assisted surgery. The development of Neural Radiance Fields (NeRFs) has greatly advanced deformable tissue reconstruction, achieving…
In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…
Dynamic scene reconstruction has garnered significant attention in recent years due to its capabilities in high-quality and real-time rendering. Among various methodologies, constructing a 4D spatial-temporal representation, such as 4D-GS,…
In this paper, we present a novel geometry-aware RGB-D Gaussian Splatting SLAM system, named G2S-ICP SLAM. The proposed method performs high-fidelity 3D reconstruction and robust camera pose tracking in real-time by representing each scene…
As a crucial and intricate task in robotic minimally invasive surgery, reconstructing surgical scenes using stereo or monocular endoscopic video holds immense potential for clinical applications. NeRF-based techniques have recently garnered…
3D Gaussian Splatting has recently shown promising results as an alternative scene representation in SLAM systems to neural implicit representations. However, current methods either lack dense depth maps to supervise the mapping process or…
Planes are fundamental primitives of 3D sences, especially in man-made environments such as indoor spaces and urban streets. Representing these planes in a structured and parameterized format facilitates scene editing and physical…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…