相关论文: PERSEUS: Perception with Semantic Endoscopic Under…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

Prosthetic vision is being applied to partially recover the retinal stimulation of visually impaired people. However, the phosphenic images produced by the implants have very limited information bandwidth due to the poor resolution and lack…

Surgical scene segmentation is essential for enhancing surgical precision, yet it is frequently compromised by the scarcity and imbalance of available data. To address these challenges, semantic image synthesis methods based on generative…

We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing partial point clouds derived from depth image often suffer…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…

Objective: State of the art navigation systems for pelvic osteotomies use optical systems with external fiducials. We propose the use of X-Ray navigation for pose estimation of periacetabular fragments without fiducials. Methods: A 2D/3D…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

We are interested in automatic scene understanding from geometric cues. To this end, we aim to bring semantic segmentation in the loop of real-time reconstruction. Our semantic segmentation is built on a deep autoencoder stack trained…

Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…

The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…

Online reconstructing and rendering of large-scale indoor scenes is a long-standing challenge. SLAM-based methods can reconstruct 3D scene geometry progressively in real time but can not render photorealistic results. While NeRF-based…

Holistic surgical scene segmentation in robot-assisted surgery (RAS) enables surgical residents to identify various anatomical tissues, articulated tools, and critical structures, such as veins and vessels. Given the firm intraoperative…

A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…

Surgical scene segmentation is a fundamental task for robotic-assisted laparoscopic surgery understanding. It often contains various anatomical structures and surgical instruments, where similar local textures and fine-grained structures…

The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…