相关论文: Bimodal Camera Pose Prediction for Endoscopy
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Colonoscopy is a routine outpatient procedure used to examine the colon and rectum for any abnormalities including polyps, diverticula and narrowing of colon structures. A significant amount of the clinician's time is spent in…
The SCARED dataset is a widely used benchmark for endoscopic depth estimation, offering ground-truth 3D reconstructions captured with a structured light sensor. However, the depth maps for non-keyframe images rely on robot kinematics that…
We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…
Gastroendoscopy has been a clinical standard for diagnosing and treating conditions that affect a part of a patient's digestive system, such as the stomach. Despite the fact that gastroendoscopy has a lot of advantages for patients, there…
We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…
Human pose estimation, the process of identifying joint positions in a person's body from images or videos, represents a widely utilized technology across diverse fields, including healthcare. One such healthcare application involves in-bed…
3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…
In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…
Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…
An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…
Monocular depth estimation is critical for endoscopists to perform spatial perception and 3D navigation of surgical sites. However, most of the existing methods ignore the important geometric structural consistency, which inevitably leads…
We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…
Spatially entangled photon pairs (biphotons) generated by spontaneous parametric down-conversion offer unique opportunities for quantum imaging, but image-plane biphoton correlations are difficult to observe with camera-based detectors.…
Colorectal cancer is the third most common cause of cancer death worldwide. Optical colonoscopy is the gold standard for detecting colorectal cancer; however, about 25 percent of polyps are missed during the procedure. A vision-based…
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…
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…
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,…
Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…
We present Ego3DPose, a highly accurate binocular egocentric 3D pose reconstruction system. The binocular egocentric setup offers practicality and usefulness in various applications, however, it remains largely under-explored. It has been…