3 citations · 4 across the 20 of their papers we have counts for
8 papers · 1 filter
RoPE-Flow: Monocular Vision-based Robot Pose Estimation via 2D Graph-Conditioned 3D Flow Matching
Liangjing Shao, Wanhao Liu, Zhiwei Fang +6
Camera-to-robot pose estimation from a monocular image is significant for vision-based robot navigation and control. However, recovering 3D structural features from 2D observations…
StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses
Tamima Tabassum, Yiming Huang, Tianchun Wu +7
Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observations, make safe control decisions, and retain evidence of lesions…
Boosting Generalizable Depth Estimation in Endoscopy by Mixture of Lightweight Experts and Intrinsic Image Alignment
Liangjing Shao, Beilei Cui, Yiming Huang +2
Depth estimation is a significant task for 3D perception in endoscopic surgeries. However, illumination interference and feature diversity in various endoscopic scenes are still ch…
Parameter-Efficient Adaptation of SAM3 for Prompt-Driven Surgical Concept Segmentation
Changjing Liu, Yiming Huang, Beilei Cui +5
Efficient surgical segmentation empowers clinical diagnosis, intraoperative monitoring, and downstream robotic pipelines for reconstruction and simulation. Although prompt-driven f…
EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splatting
Changjing Liu, Yiming Huang, Long Bai +2
In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical…
CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy
Liangjing Shao, Beilei Cui, Hongliang Ren
Geometric estimation including depth estimation and scene reconstruction is a crucial technique for colonoscopy which can provide surgeons with 3D spatial perception and navigation…
Leveling3D: Leveling Up 3D Reconstruction with Feed-Forward 3D Gaussian Splatting and Geometry-Aware Generation
Yiming Huang, Baixiang Huang, Beilei Cui +3
Feed-forward 3D reconstruction has revolutionized 3D vision, providing a powerful baseline for downstream tasks such as novel-view synthesis with 3D Gaussian Splatting. Previous wo…
EndoDDC: Learning Sparse to Dense Reconstruction for Endoscopic Robotic Navigation via Diffusion Depth Completion
Yinheng Lin, Yiming Huang, Beilei Cui +4
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-tun…