相关论文: Dynamic Robot-Assisted Surgery with Hierarchical C…

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…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

Conventional therapy approaches limit surgeons' dexterity control due to limited field-of-view. With the advent of robot-assisted surgery, there has been a paradigm shift in medical technology for minimally invasive surgery. However, it is…

Surgical tool detection in minimally invasive surgery is an essential part of computer-assisted interventions. Current approaches are mostly based on supervised methods which require large fully labeled data to train supervised models and…

Class incremental semantic segmentation (CISS) aims to segment new classes during continual steps while preventing the forgetting of old knowledge. Existing methods alleviate catastrophic forgetting by replaying distributions of previously…

Semi-supervised learning has attracted much attention due to its less dependence on acquiring abundant annotations from experts compared to fully supervised methods, which is especially important for medical image segmentation which…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

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…

Medical image segmentation is a fundamental task in medical image analysis. Despite that deep convolutional neural networks have gained stellar performance in this challenging task, they typically rely on large labeled datasets, which have…

Accurate instrument segmentation in endoscopic vision of robot-assisted surgery is challenging due to reflection on the instruments and frequent contacts with tissue. Deep neural networks (DNN) show competitive performance and are in favor…

Robust and accurate pose estimation in unknown environments is an essential part of robotic applications. We focus on LiDAR-based point-to-point ICP combined with effective semantic information. This paper proposes a novel semantic…

Recent years have witnessed the great progress of deep neural networks on semantic segmentation, particularly in medical imaging. Nevertheless, training high-performing models require large amounts of pixel-level ground truth masks, which…

Although numerous improvements have been made in the field of image segmentation using convolutional neural networks, the majority of these improvements rely on training with larger datasets, model architecture modifications, novel loss…

Image-level weakly-supervised semantic segmentation (WSSS) reduces the usually vast data annotation cost by surrogate segmentation masks during training. The typical approach involves training an image classification network using global…

Deep learning usually achieves the best results with complete supervision. In the case of semantic segmentation, this means that large amounts of pixelwise annotations are required to learn accurate models. In this paper, we show that we…

Localisation of surgical tools constitutes a foundational building block for computer-assisted interventional technologies. Works in this field typically focus on training deep learning models to perform segmentation tasks. Performance of…

Purpose: Segmentation of surgical instruments in endoscopic videos is essential for automated surgical scene understanding and process modeling. However, relying on fully supervised deep learning for this task is challenging because manual…

Semantic segmentation consists of predicting a semantic label for each image pixel. While existing deep learning approaches achieve high accuracy, they often overlook the ordinal relationships between classes, which can provide critical…

Traditional domain adaptive semantic segmentation addresses the task of adapting a model to a novel target domain under limited or no additional supervision. While tackling the input domain gap, the standard domain adaptation settings…