相关论文: 4D Monocular Surgical Reconstruction under Arbitra…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
Reconstructing dynamic, time-varying scenes with computed tomography (4D-CT) is a challenging and ill-posed problem common to industrial and medical settings. Existing 4D-CT reconstructions are designed for sparse sampling schemes that…
Capturing general deforming scenes from monocular RGB video is crucial for many computer graphics and vision applications. However, current approaches suffer from drawbacks such as struggling with large scene deformations, inaccurate shape…
Robot-assisted minimally invasive surgery benefits from enhancing dynamic scene reconstruction, as it improves surgical outcomes. While Neural Radiance Fields (NeRF) have been effective in scene reconstruction, their slow inference speeds…
Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination conditions and scene features is still the primary challenges…
3D reconstruction of deformable (or non-rigid) scenes from a set of monocular 2D image observations is a long-standing and actively researched area of computer vision and graphics. It is an ill-posed inverse problem, since -- without…
Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…
Complete reconstruction of surgical scenes is crucial for robot-assisted surgery (RAS). Deep depth estimation is promising but existing works struggle with depth discontinuities, resulting in noisy predictions at object boundaries and do…
Recent advances in 4D scene reconstruction have significantly improved dynamic modeling across various domains. However, existing approaches remain limited under aerial conditions with single-view capture, wide spatial range, and dynamic…
3D Gaussian Splatting (3DGS) has made significant strides in scene representation and neural rendering, with intense efforts focused on adapting it for dynamic scenes. Despite delivering remarkable rendering quality and speed, existing…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Reconstructing dynamic 4D scenes from monocular videos is a fundamental yet challenging task. While recent 3D foundation models provide strong geometric priors, their performance significantly degrades in dynamic environments. This…
Surgical scene simulation plays a crucial role in surgical education and simulator-based robot learning. Traditional approaches for creating these environments with surgical scene involve a labor-intensive process where designers hand-craft…
In this paper, we propose MoDGS, a new pipeline to render novel views of dy namic scenes from a casually captured monocular video. Previous monocular dynamic NeRF or Gaussian Splatting methods strongly rely on the rapid move ment of input…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
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…
Endoscopic (endo) video exhibits strong view-dependent effects such as specularities, wet reflections, and occlusions. Pure photometric supervision misaligns with geometry and triggers early geometric drift, where erroneous shapes are…
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…
3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the quality of reconstructions depends heavily on high-quality…