相关论文: EndoDAC: Efficient Adapting Foundation Model for S…

Monocular depth and pose estimation play an important role in the development of colonoscopy-assisted navigation, as they enable improved screening by reducing blind spots, minimizing the risk of missed or recurrent lesions, and lowering…

This work delves into unsupervised monocular depth estimation in endoscopy, which leverages adjacent frames to establish a supervisory signal during the training phase. For many clinical applications, e.g., surgical navigation, temporally…

Endoscopy is the most widely used imaging technique for the diagnosis of cancerous lesions in hollow organs. However, endoscopic images are often affected by illumination artefacts: image parts may be over- or underexposed according to the…

Accurate tissue point tracking in endoscopic videos is critical for robotic-assisted surgical navigation and scene understanding, but remains challenging due to complex deformations, instrument occlusion, and the scarcity of dense…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

Monocular depth estimation has shown promise in general imaging tasks, aiding in localization and 3D reconstruction. While effective in various domains, its application to bronchoscopic images is hindered by the lack of labeled data,…

Self-supervised monocular depth estimation (SSMDE) has gained attention in the field of deep learning as it estimates depth without requiring ground truth depth maps. This approach typically uses a photometric consistency loss between a…

Decoders play significant roles in recovering scene depths. However, the decoders used in previous works ignore the propagation of multilevel lossless fine-grained information, cannot adaptively capture local and global information in…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Recent advancements in foundation models, such as the Segment Anything Model (SAM), have shown strong performance in various vision tasks, particularly image segmentation, due to their impressive zero-shot segmentation capabilities.…

Supervised deep learning methods have shown promising results for the task of monocular depth estimation; but acquiring ground truth is costly, and prone to noise as well as inaccuracies. While synthetic datasets have been used to…

Zero-shot depth completion has gained attention for its ability to generalize across environments without sensor-specific datasets or retraining. However, most existing approaches rely on diffusion-based test-time optimization, which is…

Generalized metric depth understanding is critical for precise vision-guided robotics, which current state-of-the-art (SOTA) vision-encoders do not support. To address this, we propose Vanishing Depth, a self-supervised training approach…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

We propose a learning-based depth from focus/defocus (DFF), which takes a focal stack as input for estimating scene depth. Defocus blur is a useful cue for depth estimation. However, the size of the blur depends on not only scene depth but…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

Monocular depth estimation using Convolutional Neural Networks (CNNs) has shown impressive performance in outdoor driving scenes. However, self-supervised learning of indoor depth from monocular sequences is quite challenging for…