相关论文: Benchmarking Robustness of Endoscopic Depth Estima…

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 and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

Single-image depth estimation is essential for endoscopy tasks such as localization, reconstruction, and augmented reality. Most existing methods in surgical scenes focus on in-domain depth estimation, limiting their real-world…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

We propose a novel two-stage framework for sensor depth enhancement, called Perfecting Depth. This framework leverages the stochastic nature of diffusion models to automatically detect unreliable depth regions while preserving geometric…

Despite the remarkable reasoning abilities of large vision-language models (LVLMs), their robustness under visual corruptions remains insufficiently studied. Existing evaluation paradigms exhibit two major limitations: 1) the dominance of…

Deep learning in digital pathology brings intelligence and automation as substantial enhancements to pathological analysis, the gold standard of clinical diagnosis. However, multiple steps from tissue preparation to slide imaging introduce…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

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…

Depth estimation from monocular endoscopic images presents significant challenges due to the complexity of endoscopic surgery, such as irregular shapes of human soft tissues, as well as variations in lighting conditions. Existing methods…

Deep Neural Networks(DNN) have excessively advanced the field of computer vision by achieving state of the art performance in various vision tasks. These results are not limited to the field of vision but can also be seen in speech…

Despite the significant advances in deep learning over the past decade, a major challenge that limits the wide-spread adoption of deep learning has been their fragility to adversarial attacks. This sensitivity to making erroneous…

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 argue that the vulnerability of model parameters is of crucial value to the study of model robustness and generalization but little research has been devoted to understanding this matter. In this work, we propose an indicator to measure…

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…

Dense depth maps have been used as a key element of visual perception tasks. There have been tremendous efforts to enhance the depth quality, ranging from optimization-based to learning-based methods. Despite the remarkable progress for a…

Surgical instrument pose estimation provides crucial information for promising applications, including autonomous robotic surgery, skill assessment, and standardization of surgical workflow. However, this task remains highly challenging due…

Depth estimation from 2D images is a common computer vision task that has applications in many fields including autonomous vehicles, scene understanding and robotics. The accuracy of a supervised depth estimation method mainly relies on the…

Super-resolution (SR) models are attracting growing interest for enhancing minimally invasive surgery and diagnostic videos under hardware constraints. However, valid concerns remain regarding the introduction of hallucinated structures and…

Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and robotic-assisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video…