相关论文: BREA-Depth: Bronchoscopy Realistic Airway-geometri…

Monocular depth estimation has shown promise in general imaging tasks, aiding in localization and 3D reconstruction. While effective in various domains, its application to bronchoscopic images is hindered by the lack of labeled data,…

Bokeh rendering and depth estimation share a fundamental optical connection, yet existing methods fail to fully exploit this reciprocity. Conventional bokeh pipelines rely heavily on noisy depth maps that inevitably introduce visual…

Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…

The limited availability of bronchoscopy images makes image synthesis particularly interesting for training deep learning models. Robust image translation across different domains -- virtual bronchoscopy, phantom as well as in-vivo and…

Purpose: Monocular depth estimation (MDE) is vital for scene understanding in minimally invasive surgery (MIS). However, endoscopic video sequences are often contaminated by smoke, specular reflections, blur, and occlusions, limiting the…

Learning-based monocular depth estimation leverages geometric priors present in the training data to enable metric depth perception from a single image, a traditionally ill-posed problem. However, these priors are often specific to a…

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…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Depth estimation is one of the key technologies for realizing 3D perception in unmanned systems. Monocular depth estimation has been widely researched because of its low-cost advantage, but the existing methods face the challenges of poor…

Monocular and stereo depth estimation offer complementary strengths: monocular methods capture rich contextual priors but lack geometric precision, while stereo approaches leverage epipolar geometry yet struggle with ambiguities such as…

Accurate depth estimation in endoscopy is vital for successfully implementing computer vision pipelines for various medical procedures and CAD tools. In this paper, we present the EndoDepth benchmark, an evaluation framework designed to…

Dense and accurate depth estimation is essential for robotic manipulation, grasping, and navigation, yet currently available depth sensors are prone to errors on transparent, specular, and general non-Lambertian surfaces. To mitigate these…

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…

Low-overlap aerial imagery poses significant challenges to traditional photogrammetric methods, which rely heavily on high image overlap to produce accurate and complete mapping products. In this study, we propose a novel workflow based on…

Bronchoscopic navigation relies on registering endoscopic video to a preoperative CT scan, but respiratory motion deforms the airway by 5-20 mm, creating CT-to-body divergence that limits localization accuracy. In practice, this is…

Monocular depth estimation aims to infer a dense depth map from a single image, which is a fundamental and prevalent task in computer vision. Many previous works have shown impressive depth estimation results through carefully designed…

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,…

Monocular relative and metric depth estimation has seen a tremendous boost in the last few years due to the sharp advancements in foundation models and in particular transformer based networks. As we start to see applications to the domain…

Using accurate depth priors in 3D Gaussian Splatting helps mitigate artifacts caused by sparse training data and textureless surfaces. However, acquiring accurate depth maps requires specialized acquisition systems. Foundation monocular…

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…