相关论文: Multi-Modal Monocular Endoscopic Depth and Pose Es…

We propose PureCLIP-Depth, a completely prompt-free, decoder-free Monocular Depth Estimation (MDE) model that operates entirely within the Contrastive Language-Image Pre-training (CLIP) embedding space. Unlike recent models that rely…

3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…

Depth estimation from a single image is a challenging problem in computer vision because binocular disparity or motion information is absent. Whereas impressive performances have been reported in this area recently using end-to-end trained…

Recovering the scene depth from a single image is an ill-posed problem that requires additional priors, often referred to as monocular depth cues, to disambiguate different 3D interpretations. In recent works, those priors have been learned…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

One of the key elements of reconstructing a 3D mesh from a monocular video is generating every frame's depth map. However, in the application of colonoscopy video reconstruction, producing good-quality depth estimation is challenging.…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…

Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods…

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…

Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…

Although both self-supervised single-frame and multi-frame depth estimation methods only require unlabeled monocular videos for training, the information they leverage varies because single-frame methods mainly rely on appearance-based…

Deep learning models have witnessed depth and pose estimation framework on unannotated datasets as a effective pathway to succeed in endoscopic navigation. Most current techniques are dedicated to developing more advanced neural networks to…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

An event camera is a novel vision sensor that can capture per-pixel brightness changes and output a stream of asynchronous ``events''. It has advantages over conventional cameras in those scenes with high-speed motions and challenging…