相关论文: SCARED-C: Corrected Camera Poses for Endoscopic De…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

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…

Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…

Compressive sensing (CS) reconstructs images from sub-Nyquist measurements by solving a sparsity-regularized inverse problem. Traditional CS solvers use iterative optimizers with hand crafted sparsifiers, while early data-driven methods…

Deducing the 3D structure of endoscopic scenes from images is exceedingly challenging. In addition to deformation and view-dependent lighting, tubular structures like the colon present problems stemming from their self-occluding and…

Accurate depth perception is crucial for patient outcomes in endoscopic surgery, yet it is compromised by image distortions common in surgical settings. To tackle this issue, our study presents a benchmark for assessing the robustness of…

Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…

Colonoscopy is the choice procedure to diagnose colon and rectum cancer, from early detection of small precancerous lesions (polyps), to confirmation of malign masses. However, the high variability of the organ appearance and the complex…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…

Accurate 3D scene reconstruction is essential for numerous medical tasks. Given the challenges in obtaining ground truth data, there has been an increasing focus on self-supervised learning (SSL) for endoscopic depth estimation as a basis…

We propose a self-supervised monocular depth estimation network tailored for endoscopic scenes, aiming to infer depth within the gastrointestinal tract from monocular images. Existing methods, though accurate, typically assume consistent…

Snapshot compressed sensing (CS) refers to compressive imaging systems in which multiple frames are mapped into a single measurement frame. Each pixel in the acquired frame is a noisy linear mapping of the corresponding pixels in the frames…

Depth estimation plays a crucial role in various tasks within endoscopic surgery, including navigation, surface reconstruction, and augmented reality visualization. Despite the significant achievements of foundation models in vision tasks,…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

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…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…