相关论文: Enhanced Scale-aware Depth Estimation for Monocula…

Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination conditions and scene features is still the primary challenges…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

Accurate endoscope pose estimation and 3D tissue surface reconstruction significantly enhances monocular minimally invasive surgical procedures by enabling accurate navigation and improved spatial awareness. However, monocular endoscope…

Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…

Geometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms used are typically adaptations of those designed for…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

Monocular depth estimation is critical for endoscopists to perform spatial perception and 3D navigation of surgical sites. However, most of the existing methods ignore the important geometric structural consistency, which inevitably leads…

3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…

Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…

Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be…

Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…

Reconstructing 3D scenes from monocular surgical videos can enhance surgeon's perception and therefore plays a vital role in various computer-assisted surgery tasks. However, achieving scale-consistent reconstruction remains an open…

Depth estimation is a foundational component for 3D reconstruction in minimally invasive endoscopic surgeries. However, existing monocular depth estimation techniques often exhibit limited performance to the varying illumination and complex…

Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…

We propose a self-supervised monocular depth estimation network tailored for endoscopic scenes, aiming to infer depth within the gastrointestinal tract from monocular images. Existing methods, though accurate, typically assume consistent…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Existing monocular depth estimation methods have achieved excellent robustness in diverse scenes, but they can only retrieve affine-invariant depth, up to an unknown scale and shift. However, in some video-based scenarios such as video…

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…