相关论文: Corresponding Supine and Prone Colon Visualization…

Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in these settings due to…

The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system…

Background: Automated analysis of CT scans for abdominal organ measurement is crucial for improving diagnostic efficiency and reducing inter-observer variability. Manual segmentation and measurement of organs such as the kidneys, liver,…

We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts with building a semantic map of the local scene from the…

Detection and diagnosis of colon polyps are key to preventing colorectal cancer. Recent evidence suggests that AI-based computer-aided detection (CADe) and computer-aided diagnosis (CADx) systems can enhance endoscopists' performance and…

Spatially aligning medical images from different modalities remains a challenging task, especially for intraoperative applications that require fast and robust algorithms. We propose a weakly-supervised, label-driven formulation for…

Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a…

Augmented reality for laparoscopic liver resection is a visualisation mode that allows a surgeon to localise tumours and vessels embedded within the liver by projecting them on top of a laparoscopic image. Preoperative 3D models extracted…

Partial shapes correspondences is a problem that often occurs in computer vision (occlusion, evolution in time...). In medical imaging, data may come from different modalities and be acquired under different conditions which leads to…

This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of $SE(2)$ and $SE(3)$. The approach can use dense point cloud data from stereo vision or an RGB-D sensor…

A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…

Colon cancer also known as Colorectal cancer, is one of the most malignant types of cancer worldwide. Early-stage detection of colon cancer is highly crucial to prevent its deterioration. This research presents a hybrid multi-scale deep…

We propose a minimal solution for the similarity registration (rigid pose and scale) between two sets of 3D lines, and also between a set of co-planar points and a set of 3D lines. The first problem is solved up to 8 discrete solutions with…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Volumetric rendering of Computed Tomography (CT) scans is crucial for visualizing complex 3D anatomical structures in medical imaging. Current high-fidelity approaches, especially neural rendering techniques, require time-consuming…

This paper aims to solve a fundamental problem in intensity-based 2D/3D registration, which concerns the limited capture range and need for very good initialization of state-of-the-art image registration methods. We propose a regression…

Foundation models (FMs) have demonstrated strong performance across diverse pathology tasks. While there are similarities in the pre-training objectives of FMs, there is still limited understanding of their complementarity, redundancy in…

Pose estimation, i.e. predicting a 3D rigid transformation with respect to a fixed co-ordinate frame in, SE(3), is an omnipresent problem in medical image analysis with applications such as: image rigid registration, anatomical standard…

In medical imaging, efficient segmentation of colon polyps plays a pivotal role in minimally invasive solutions for colorectal cancer. This study introduces a novel approach employing two parallel encoder branches within a network for polyp…

We present an accurate, robust and fast method for registration of 3D scans. Our motion estimation optimizes a robust cost function on the intrinsic representation of rigid motions, i.e., the Special Euclidean group $\mathbb{SE}(3)$. We…