相关论文: Harnessing Foundation Models for Robust and Genera…

Accurate bronchoscope localization is essential for pulmonary interventions, by providing six degrees of freedom (DOF) in airway navigation. However, the robustness of current vision-based methods is often compromised in clinical practice,…

Real-time 6 DOF localization of bronchoscopes is crucial for enhancing intervention quality. However, current vision-based technologies struggle to balance between generalization to unseen data and computational speed. In this study, we…

Accurate intra-operative localization of the bronchoscope tip relative to patient anatomy remains challenging due to respiratory motion, anatomical variability, and CT-to-body divergence that cause deformation and misalignment between…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

Vision-language models (VLMs) have recently shown remarkable performance in navigation and localization tasks by leveraging large-scale pretraining for semantic understanding. However, applying VLMs to 6-DoF endoscopic camera localization…

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…

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…

Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…

The integration of deep learning systems into healthcare has been hindered by the resource-intensive process of data annotation and the inability of these systems to generalize to different data distributions. Foundation models, which are…

Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…

Precise six-degree-of-freedom (6DoF) head pose estimation is crucial for safety-critical applications and human-computer interaction scenarios, yet existing monocular methods still struggle with robust pose estimation. We revisit this…

Fetal pose estimation in 3D ultrasound (US) involves identifying a set of associated fetal anatomical landmarks. Its primary objective is to provide comprehensive information about the fetus through landmark connections, thus benefiting…

Vision foundation models like DINOv2 demonstrate remarkable potential in medical imaging despite their origin in natural image domains. However, their design inherently works best for uni-modal image analysis, limiting their effectiveness…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

Localizing the bronchoscope in real time is essential for ensuring intervention quality. However, most existing methods struggle to balance between speed and generalization. To address these challenges, we present BronchoTrack, an…

Depth estimation plays a crucial role in various tasks within endoscopic surgery, including navigation, surface reconstruction, and augmented reality visualization. Despite the significant achievements of foundation models in vision tasks,…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

Vision-based bronchoscopy (VB) models require the registration of the virtual lung model with the frames from the video bronchoscopy to provide effective guidance during the biopsy. The registration can be achieved by either tracking the…

Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

Gastroendoscopy has been a clinical standard for diagnosing and treating conditions that affect a part of a patient's digestive system, such as the stomach. Despite the fact that gastroendoscopy has a lot of advantages for patients, there…