相关论文: ToDER: Towards Colonoscopy Depth Estimation and Re…

In recent years, self-supervised methods for monocular depth estimation has rapidly become an significant branch of depth estimation task, especially for autonomous driving applications. Despite the high overall precision achieved, current…

Accurate polyp segmentation in colonoscopy is essential for cancer prevention but remains challenging due to: (1) high morphological variability (from flat to protruding lesions), (2) strong visual similarity to normal structures such as…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…

For a monocular 360 image, depth estimation is a challenging because the distortion increases along the latitude. To perceive the distortion, existing methods devote to designing a deep and complex network architecture. In this paper, we…

Tracking surgical modifications based on endoscopic videos is technically feasible and of great clinical advantages; however, it still remains challenging. This report presents a modular pipeline to divide and conquer the clinical…

Despite recent advancements in surface reconstruction, Level of Detail (LoD) 3 building reconstruction remains an unresolved challenge. The main issue pertains to the object-oriented modelling paradigm, which requires georeferencing,…

X-ray computed tomographic infrastructures are medical imaging modalities that rely on the acquisition of rays crossing examined objects while measuring their intensity decrease. Physical measurements are post-processed by mathematical…

In this work, we tackle the essential problem of scale inconsistency for self-supervised joint depth-pose learning. Most existing methods assume that a consistent scale of depth and pose can be learned across all input samples, which makes…

Polyps are well-known cancer precursors identified by colonoscopy. However, variability in their size, location, and surface largely affect identification, localisation, and characterisation. Moreover, colonoscopic surveillance and removal…

In this work we present a method to train a plane-aware convolutional neural network for dense depth and surface normal estimation as well as plane boundaries from a single indoor $360^\circ$ image. Using our proposed loss function, our…

Purpose: Depth estimation in robotic surgery is vital in 3D reconstruction, surgical navigation and augmented reality visualization. Although the foundation model exhibits outstanding performance in many vision tasks, including depth…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Polyp detectors trained on clean datasets often underperform in real-world endoscopy, where illumination changes, motion blur, and occlusions degrade image quality. Existing approaches struggle with the domain gap between controlled…

Current methods for depth map prediction from monocular images tend to predict smooth, poorly localized contours for the occlusion boundaries in the input image. This is unfortunate as occlusion boundaries are important cues to recognize…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in evaluation metrics such as the pixel-wise relative error, most methods neglect the geometric…

Colorectal cancer is a one of the highest causes of cancer-related death, especially in men. Polyps are one of the main causes of colorectal cancer and early diagnosis of polyps by colonoscopy could result in successful treatment. Diagnosis…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Medical imaging is nowadays a pillar in diagnostics and therapeutic follow-up. Current research tries to integrate established - but ionizing - tomographic techniques with technologies offering reduced radiation exposure. Diffuse Optical…

Anomaly detection in medical images is challenging due to limited annotations and a domain gap compared to natural images. Existing reconstruction methods often rely on frozen pre-trained encoders, which limits adaptation to domain-specific…