相关论文: Photometric single-view dense 3D reconstruction in…

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…

Medical endoscopy remains a challenging application for simultaneous localization and mapping (SLAM) due to the sparsity of image features and size constraints that prevent direct depth-sensing. We present a SLAM approach that incorporates…

Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…

Multi-map Sparse Monocular visual Simultaneous Localization and Mapping applied to monocular endoscopic sequences has proven efficient to robustly recover tracking after the frequent losses in endoscopy due to motion blur, temporal…

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,…

We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for…

Obtaining dense 3D reconstrution with low computational cost is one of the important goals in the field of SLAM. In this paper we propose a dense 3D reconstruction framework from monocular multispectral video sequences using jointly…

One of the key elements of reconstructing a 3D mesh from a monocular video is generating every frame's depth map. However, in the application of colonoscopy video reconstruction, producing good-quality depth estimation is challenging.…

This contribution shows how an appropriate image pre-processing can improve a deep-learning based 3D reconstruction of colon parts. The assumption is that, rather than global image illumination corrections, local under- and over-exposures…

Monocular visual simultaneous localization and mapping (V-SLAM) is nowadays an irreplaceable tool in mobile robotics and augmented reality, where it performs robustly. However, human colonoscopies pose formidable challenges like occlusions,…

Purpose: Visual 3D scene reconstruction can support colonoscopy navigation. It can help in recognising which portions of the colon have been visualised and characterising the size and shape of polyps. This is still a very challenging…

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…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

We introduce ColonSLAM, a system that combines classical multiple-map metric SLAM with deep features and topological priors to create topological maps of the whole colon. The SLAM pipeline by itself is able to create disconnected individual…

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…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

High screening coverage during colonoscopy is crucial to effectively prevent colon cancer. Previous work has allowed alerting the doctor to unsurveyed regions by reconstructing the 3D colonoscopic surface from colonoscopy videos in…

In surgical oncology, screening colonoscopy plays a pivotal role in providing diagnostic assistance, such as biopsy, and facilitating surgical navigation, particularly in polyp detection. Computer-assisted endoscopic surgery has recently…

Efficient three-dimensional reconstruction and real-time visualization are critical in surgical scenarios such as endoscopy. In recent years, 3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in efficient 3D…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…