相关论文: Learning-Based Depth and Pose Estimation for Monoc…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…

The ability to predict depth from a single image - using recent advances in CNNs - is of increasing interest to the vision community. Unsupervised strategies to learning are particularly appealing as they can utilize much larger and varied…

Precise and real-time detection of gastrointestinal polyps during endoscopic procedures is crucial for early diagnosis and prevention of colorectal cancer. This work presents EndoSight AI, a deep learning architecture developed and…

As the number of people affected by diseases in the gastrointestinal system is ever-increasing, a higher demand on preventive screening is inevitable. This will significantly increase the workload on gastroenterologists. To help reduce the…

Geometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms used are typically adaptations of those designed for…

Self-supervised monocular depth estimation serves as a key task in the development of endoscopic navigation systems. However, performance degradation persists due to uneven illumination inherent in endoscopic images, particularly in…

Endoscopic surgery relies on two-dimensional views, posing challenges for surgeons in depth perception and instrument manipulation. While Monocular Visual Simultaneous Localization and Mapping (MVSLAM) has emerged as a promising solution,…

The Endoscopy Computer Vision Challenge (EndoCV) is a crowd-sourcing initiative to address eminent problems in developing reliable computer aided detection and diagnosis endoscopy systems and suggest a pathway for clinical translation of…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Depth estimation from monocular endoscopic images presents significant challenges due to the complexity of endoscopic surgery, such as irregular shapes of human soft tissues, as well as variations in lighting conditions. Existing methods…

With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…

We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three…

Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…

We present a self-supervised learning approach to learning monocular 3D face reconstruction with a pose guidance network (PGN). First, we unveil the bottleneck of pose estimation in prior parametric 3D face learning methods, and propose to…

This paper studies unsupervised monocular depth prediction problem. Most of existing unsupervised depth prediction algorithms are developed for outdoor scenarios, while the depth prediction work in the indoor environment is still very…

Endoscopy serves as an essential procedure for evaluating the gastrointestinal (GI) tract and plays a pivotal role in identifying GI-related disorders. Recent advancements in deep learning have demonstrated substantial progress in detecting…

Learning depth from a single image, as an important issue in scene understanding, has attracted a lot of attention in the past decade. The accuracy of the depth estimation has been improved from conditional Markov random fields,…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…