相关论文: Towards Holistic Surgical Scene Graph

Generating scene graph to describe all the relations inside an image gains increasing interests these years. However, most of the previous methods use complicated structures with slow inference speed or rely on the external data, which…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-Look based Inspection and Exploration planner. The novelty of…

Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…

Computer-assisted surgical (CAS) systems enhance surgical execution and outcomes by providing advanced support to surgeons. These systems often rely on deep learning models trained on complex, challenging-to-annotate data. While synthetic…

Scene graph (SG) representations can neatly and efficiently describe scene semantics, which has driven sustained intensive research in SG generation. In the real world, multiple modalities often coexist, with different types, such as…

In this work, we seek new insights into the underlying challenges of the Scene Graph Generation (SGG) task. Quantitative and qualitative analysis of the Visual Genome dataset implies -- 1) Ambiguity: even if inter-object relationship…

Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…

A scene graph is a semantic representation that expresses the objects, attributes, and relationships between objects in a scene. Scene graphs play an important role in many cross modality tasks, as they are able to capture the interactions…

Surgical instrument segmentation (SIS) on endoscopic images stands as a long-standing and essential task in the context of computer-assisted interventions for boosting minimally invasive surgery. Given the recent surge of deep learning…

Existing research addresses scene graph generation (SGG) -- a critical technology for scene understanding in images -- from a detection perspective, i.e., objects are detected using bounding boxes followed by prediction of their pairwise…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

In the era of Generative AI, Neurosymbolic AI is emerging as a powerful approach for tasks spanning from perception to cognition. The use of Neurosymbolic AI has been shown to achieve enhanced capabilities, including improved grounding,…

Accurate tool tracking is essential for the success of computer-assisted intervention. Previous efforts often modeled tool trajectories rigidly, overlooking the dynamic nature of surgical procedures, especially tracking scenarios like…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Dynamic Scene Graphs (DSGs) provide a structured representation of hierarchical, interconnected environments, but current approaches struggle to capture stochastic dynamics, partial observability, and multi-agent activity. These aspects are…

The growing popularity of robotic minimally invasive surgeries has made deep learning-based surgical training a key area of research. A thorough understanding of the surgical scene components is crucial, which semantic segmentation models…

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…