相关论文: EndoVGGT: GNN-Enhanced Depth Estimation for Surgic…

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…

Accurate reconstruction of soft tissue is crucial for advancing automation in image-guided robotic surgery. The recent 3D Gaussian Splatting (3DGS) techniques and their variants, 4DGS, achieve high-quality renderings of dynamic surgical…

Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…

Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since they are typically trained on static datasets, these models…

Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue…

3D shape representations that accommodate learning-based 3D reconstruction are an open problem in machine learning and computer graphics. Previous work on neural 3D reconstruction demonstrated benefits, but also limitations, of point cloud,…

Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…

Monocular depth estimation and image deblurring are two fundamental tasks in computer vision, given their crucial role in understanding 3D scenes. Performing any of them by relying on a single image is an ill-posed problem. The recent…

This paper explores how graph neural networks (GNNs) can be used to enhance visual scene understanding and surgical skill assessment. By using GNNs to analyze the complex visual data of surgical procedures represented as graph structures,…

Accurate and automated lesion segmentation in Positron Emission Tomography / Computed Tomography (PET/CT) imaging is essential for cancer diagnosis and therapy planning. This paper presents a Swin Transformer UNet 3D (SwinUNet3D) framework…

Over the past few years, a significant progress has been made in deep convolutional neural networks (CNNs)-based image recognition. This is mainly due to the strong ability of such networks in mining discriminative object pose and parts…

Surrogate models for the rapid inference of nonlinear boundary value problems in mechanics are helpful in a broad range of engineering applications. However, effective surrogate modeling of applications involving the contact of deformable…

We introduce VGGT-SLAM++, a complete visual SLAM system that leverages the geometry-rich outputs of the Visual Geometry Grounded Transformer (VGGT). The system comprises a visual odometry (front-end) fusing the VGGT feed-forward transformer…

We propose Deep-Motion-Net: an end-to-end graph neural network (GNN) architecture that enables 3D (volumetric) organ shape reconstruction from a single in-treatment kV planar X-ray image acquired at any arbitrary projection angle.…

Most existing 3D referring expression segmentation (3DRES) methods rely on dense, high-quality point clouds, while real-world agents such as robots and mobile phones operate with only a few sparse RGB views and strict latency constraints.…

The task of predicting smooth and edge-consistent depth maps is notoriously difficult for single image depth estimation. This paper proposes a novel Bilateral Grid based 3D convolutional neural network, dubbed as 3DBG-UNet, that…

We present a self-supervised method to learn dynamic 3D deformations of garments worn by parametric human bodies. State-of-the-art data-driven approaches to model 3D garment deformations are trained using supervised strategies that require…

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…

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…

Geometric constraints between feature matches are critical in 3D point cloud registration problems. Existing approaches typically model unordered matches as a consistency graph and sample consistent matches to generate hypotheses. However,…