相关论文: Task-guided Domain Gap Reduction for Monocular Dep…

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…

Depth estimation is a crucial step for image-guided intervention in robotic surgery and laparoscopic imaging system. Since per-pixel depth ground truth is difficult to acquire for laparoscopic image data, it is rarely possible to apply…

Although recent semantic segmentation methods have made remarkable progress, they still rely on large amounts of annotated training data, which are often infeasible to collect in the autonomous driving scenario. Previous works usually…

At present, deep learning has been applied more and more in monocular image depth estimation and has shown promising results. The current more ideal method for monocular depth estimation is the supervised learning based on ground truth…

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…

Pixel-wise segmentation of laparoscopic scenes is essential for computer-assisted surgery but difficult to scale due to the high cost of dense annotations. We propose depth-guided surgical scene segmentation (DepSeg), a training-free…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

Accurate Monocular Depth Estimation (MDE) is critical for autonomous robotic surgery. However, existing self-supervised methods often exhibit a severe "ex-vivo to in-vivo gap": they achieve high accuracy on public datasets but struggle in…

Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods…

The advent of deep learning has brought an impressive advance to monocular depth estimation, e.g., supervised monocular depth estimation has been thoroughly investigated. However, the large amount of the RGB-to-depth dataset may not be…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

A single color image can contain many cues informative towards different aspects of local geometric structure. We approach the problem of monocular depth estimation by using a neural network to produce a mid-level representation that…

A major challenge in applying deep learning to medical imaging is the paucity of annotated data. This study demonstrates that synthetic colonoscopy images generated by Generative Adversarial Network (GAN) inversion can be used as training…

Monocular depth estimation is known as an ill-posed task in which objects in a 2D image usually do not contain sufficient information to predict their depth. Thus, it acts differently from other tasks (e.g., classification and segmentation)…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

Deep metric learning aims to learn features relying on the consistency or divergence of class labels. However, in monocular depth estimation, the absence of a natural definition of class poses challenges in the leveraging of deep metric…

Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without…

Supervised learning-based segmentation methods typically require a large number of annotated training data to generalize well at test time. In medical applications, curating such datasets is not a favourable option because acquiring a large…