相关论文: CoGE: Sim-to-Real Online Geometric Estimation for …

While many visual ego-motion algorithm variants have been proposed in the past decade, learning based ego-motion estimation methods have seen an increasing attention because of its desirable properties of robustness to image noise and…

The lifting-based methods have dominated monocular 3D human pose estimation by leveraging detected 2D poses as intermediate representations. The 2D component of the final 3D human pose benefits from the detected 2D poses, whereas its depth…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

Automatic segmentation of anatomical landmarks in endoscopic images can provide assistance to doctors and surgeons for diagnosis, treatments or medical training. However, obtaining the annotations required to train commonly used supervised…

Recent advances in data-driven geometric multi-view 3D reconstruction foundation models (e.g., DUSt3R) have shown remarkable performance across various 3D vision tasks, facilitated by the release of large-scale, high-quality 3D datasets.…

Operating a robot in the open world requires a high level of robustness with respect to previously unseen environments. Optimally, the robot is able to adapt by itself to new conditions without human supervision, e.g., automatically…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

Colorectal cancer is the fourth leading cause of cancer deaths worldwide and the second leading cause in the United States. The risk of colorectal cancer can be mitigated by the identification and removal of premalignant lesions through…

Colorectal diseases, including inflammatory conditions and neoplasms, require quick, accurate care to be effectively treated. Traditional diagnostic pipelines require extensive preparation and rely on separate, individual evaluations on…

Single-view depth estimation (SVDE) plays a crucial role in scene understanding for AR applications, 3D modeling, and robotics, providing the geometry of a scene based on a single image. Recent works have shown that a successful solution…

Self-supervised monocular depth estimation has emerged as a promising approach since it does not rely on labeled training data. Most methods combine convolution and Transformer to model long-distance dependencies to estimate depth…

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…

Inspired by the cognitive process of humans and animals, Curriculum Learning (CL) trains a model by gradually increasing the difficulty of the training data. In this paper, we study whether CL can be applied to complex geometry problems…

Colonoscopy is a routine outpatient procedure used to examine the colon and rectum for any abnormalities including polyps, diverticula and narrowing of colon structures. A significant amount of the clinician's time is spent in…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

Accurate food volume estimation is crucial for medical nutrition management and health monitoring applications, but current food volume estimation methods are often limited by mononuclear data, leveraging single-purpose hardware such as 3D…

We propose a new approach to 3D reconstruction from sequences of images acquired by monocular endoscopes. It is based on two key insights. First, endoluminal cavities are watertight, a property naturally enforced by modeling them in terms…

We present Bridging Geometric and Semantic (BriGeS), an effective method that fuses geometric and semantic information within foundation models to enhance Monocular Depth Estimation (MDE). Central to BriGeS is the Bridging Gate, which…

Pixel-wise segmentation of laparoscopic scenes is essential for computer-assisted surgery but difficult to scale due to the high cost of dense annotations. We propose depth-guided surgical scene segmentation (DepSeg), a training-free…