相关论文: Suture Thread Spline Reconstruction from Endoscopi…
A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…
Edges are one of the most basic parametric primitives to describe structural information in 3D. In this paper, we study parametric 3D edge reconstruction from calibrated multi-view images. Previous methods usually reconstruct a 3D edge…
Accurate three-dimensional (3D) reconstruction of guidewire shapes is crucial for precise navigation in robot-assisted endovascular interventions. Conventional 2D Digital Subtraction Angiography (DSA) is limited by the absence of depth…
In this paper, a new method is proposed to automatically detect screw threads in 3D density fields obtained from computed tomography measurement devices. The described method can be used to automate many operations during screw thread…
Purpose: Mitral valve repair is a complex minimally invasive surgery of the heart valve. In this context, suture detection from endoscopic images is a highly relevant task that provides quantitative information to analyse suturing patterns,…
We present a method for reconstructing accurate and consistent 3D hands from a monocular video. We observe that detected 2D hand keypoints and the image texture provide important cues about the geometry and texture of the 3D hand, which can…
A key question in the problem of 3D reconstruction is how to train a machine or a robot to model 3D objects. Many tasks like navigation in real-time systems such as autonomous vehicles directly depend on this problem. These systems usually…
Reconstruction of geometry based on different input modes, such as images or point clouds, has been instrumental in the development of computer aided design and computer graphics. Optimal implementations of these applications have…
Reconstructing a 3D hand from a single-view RGB image is challenging due to various hand configurations and depth ambiguity. To reliably reconstruct a 3D hand from a monocular image, most state-of-the-art methods heavily rely on 3D…
Reconstructing a surface from a point cloud is an underdetermined problem. We use a neural network to study and quantify this reconstruction uncertainty under a Poisson smoothness prior. Our algorithm addresses the main limitations of…
This paper presents a novel method for the reconstruction of 3D edges in multi-view stereo scenarios. Previous research in the field typically relied on video sequences and limited the reconstruction process to either straight…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Generating accurate 3D reconstructions from endoscopic video is a promising avenue for longitudinal radiation-free analysis of sinus anatomy and surgical outcomes. Several methods for monocular reconstruction have been proposed, yielding…
Accurate digital twins of industrial assets, such as ships and offshore platforms, rely on the precise reconstruction of complex pipe networks. However, manual modelling of pipes from laser scan data is a time-consuming and labor-intensive…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the…
Segmentation of surgical instruments is an important problem in robot-assisted surgery: it is a crucial step towards full instrument pose estimation and is directly used for masking of augmented reality overlays during surgical procedures.…
Tissue deformation recovery based on stereo endoscopic images is crucial for tool-tissue interaction analysis and benefits surgical navigation and autonomous soft tissue manipulation. Previous research suffers from the problems raised from…
Advances in computer vision, particularly in optical image-based 3D reconstruction and feature matching, enable applications like marker-less surgical navigation and digitization of surgery. However, their development is hindered by a lack…
Automatic surgical gesture recognition is a prerequisite of intra-operative computer assistance and objective surgical skill assessment. Prior works either require additional sensors to collect kinematics data or have limitations on…