相关论文: Bimodal Camera Pose Prediction for Endoscopy

The 2D heatmap-based approaches have dominated Human Pose Estimation (HPE) for years due to high performance. However, the long-standing quantization error problem in the 2D heatmap-based methods leads to several well-known drawbacks: 1)…

Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent results in small confined areas like offices and apartment…

We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D…

Optical colonoscopy (OC), the most prevalent colon cancer screening tool, has a high miss rate due to a number of factors, including the geometry of the colon (haustral fold and sharp bends occlusions), endoscopist inexperience or fatigue,…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…

Our work addresses the problem of egocentric human pose estimation from downwards-facing cameras on head-mounted devices (HMD). This presents a challenging scenario, as parts of the body often fall outside of the image or are occluded.…

Occlusions remain one of the key challenges in 3D body pose estimation from single-camera video sequences. Temporal consistency has been extensively used to mitigate their impact but the existing algorithms in the literature do not…

Multi-image spatial reasoning remains challenging for current multimodal large language models (MLLMs). While single-view perception is inherently 2D, reasoning over multiple views requires building a coherent scene understanding across…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been…

We address the challenges in estimating 3D human poses from multiple views under occlusion and with limited overlapping views. We approach multi-view, single-person 3D human pose reconstruction as a regression problem and propose a novel…

Automated patient positioning can improve radiology workflow efficiency by reducing the time required for manual table adjustments and scout-based scan planning. We propose a learning-based framework that predicts 3D organ locations and…

Colonoscopic Polyp Re-Identification aims to match the same polyp from a large gallery with images from different views taken using different cameras, which plays an important role in the prevention and treatment of colorectal cancer in…

Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

Registering images from different modalities is an active area of research in computer aided medical interventions. Several registration algorithms have been developed, many of which achieve high accuracy. However, these results are…

Recent advances in capsule endoscopy systems have introduced new methods and capabilities. The capsule endoscopy system, by observing the entire digestive tract, has significantly improved diagnosing gastrointestinal disorders and diseases.…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…