相关论文: Semantic-SuPer: A Semantic-aware Surgical Percepti…

We introduce a novel deep learning-based framework to interpret 3D urban scenes represented as textured meshes. Based on the observation that object boundaries typically align with the boundaries of planar regions, our framework achieves…

3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are…

Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…

The accurate reconstruction of surgical scenes from surgical videos is critical for various applications, including intraoperative navigation and image-guided robotic surgery automation. However, previous approaches, mainly relying on depth…

Semantic image segmentation is one of fastest growing areas in computer vision with a variety of applications. In many areas, such as robotics and autonomous vehicles, semantic image segmentation is crucial, since it provides the necessary…

Endoscopic surgery is currently an important treatment method in the field of spinal surgery and avoiding damage to the spinal nerves through video guidance is a key challenge. This paper presents the first real-time segmentation method for…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…

3D scene reconstruction from stereo endoscopic video data is crucial for advancing surgical interventions. In this work, we present an online framework for online, dense 3D scene reconstruction and tracking, aimed at enhancing surgical…

Accurate medical image segmentation is of utmost importance for enabling automated clinical decision procedures. However, prevailing supervised deep learning approaches for medical image segmentation encounter significant challenges due to…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Advances in surgical video analysis are transforming operating rooms into intelligent, data-driven environments. Computer-assisted systems support full surgical workflow, from preoperative planning to intraoperative guidance and…

Deep learning affords enormous opportunities to augment the armamentarium of biomedical imaging, albeit its design and implementation have potential flaws. Fundamentally, most deep learning models are driven entirely by data without…

As the scene information, including objectness and scene type, are important for people with visual impairment, in this work we present a multi-task efficient perception system for the scene parsing and recognition tasks. Building on the…

Volumetric depth map fusion based on truncated signed distance functions has become a standard method and is used in many 3D reconstruction pipelines. In this paper, we are generalizing this classic method in multiple ways: 1) Semantics:…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

This paper presents a new approach to estimate accurate and robust 3D semantic correspondence with the hierarchical neural semantic representation. Our work has three key contributions. First, we design the hierarchical neural semantic…

Accurate segmentation and tracking of relevant elements of the surgical scene is crucial to enable context-aware intraoperative assistance and decision making. Current solutions remain tethered to domain-specific, supervised models that…

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…

Multimodal medical image fusion plays a crucial role in medical diagnosis by integrating complementary information from different modalities to enhance image readability and clinical applicability. However, existing methods mainly follow…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…