相关论文: Deep EndoVO: A Recurrent Convolutional Neural Netw…
Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule…
Video capsule endoscopy is a hot topic in computer vision and medicine. Deep learning can have a positive impact on the future of video capsule endoscopy technology. It can improve the anomaly detection rate, reduce physicians' time for…
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in these situations come from both the limitations of the sensors…
The use of 2D laser scanners is attractive for the autonomous driving industry because of its accuracy, light-weight and low-cost. However, since only a 2D slice of the surrounding environment is detected at each scan, it is a challenge to…
Wireless Capsule Endoscopy is a non-invasive imaging method for the entire gastrointestinal tract, and is a pain-free alternative to traditional endoscopy. It generates extensive video data that requires significant review time, and…
Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is emerging as a novel, minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and…
We present a novel end-to-end visual odometry architecture with guided feature selection based on deep convolutional recurrent neural networks. Different from current monocular visual odometry methods, our approach is established on the…
In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases and pathologies.…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Visual Odometry (VO) is a method to estimate self-motion of a mobile robot using visual sensors. Unlike odometry based on integrating differential measurements that can accumulate errors, such as inertial sensors or wheel encoders, visual…
Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…
Deep learning-based, single-view depth estimation methods have recently shown highly promising results. However, such methods ignore one of the most important features for determining depth in the human vision system, which is motion. We…
In this study, we address the key challenges concerning the accuracy and effectiveness of depth estimation for endoscopic imaging, with a particular emphasis on real-time inference and the impact of light reflections. We propose a novel…
Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…
Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…
Although wireless capsule endoscopy is the preferred modality for diagnosis and assessment of small bowel diseases, the poor camera resolution is a substantial limitation for both subjective and automated diagnostics. Enhanced-resolution…
For many real-world applications involving low-power sensor edge devices deep neural networks used for image classification might not be suitable. This is due to their typically large model size and require- ment of operations often…
Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…