3 citations · 3 across the 18 of their papers we have counts for
13 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…
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…
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…
More than Segmentation: Benchmarking SAM 3 for Segmentation, 3D Perception, and Reconstruction in Robotic Surgery
Wenzhen Dong, Jieming Yu, Yiming Huang +5
The recent SAM 3 and SAM 3D have introduced significant advancements over the predecessor, SAM 2, particularly with the integration of language-based segmentation and enhanced 3D p…
Recognizing Surgical Phases Anywhere: Few-Shot Test-time Adaptation and Task-graph Guided Refinement
Kun Yuan, Tingxuan Chen, Shi Li +9
The complexity and diversity of surgical workflows, driven by heterogeneous operating room settings, institutional protocols, and anatomical variability, present a significant chal…
Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splatting
Yiming Huang, Long Bai, Beilei Cui +7
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, 4…
SurgVidLM: Towards Multi-grained Surgical Video Understanding with Large Language Model
Guankun Wang, Junyi Wang, Wenjin Mo +11
Surgical scene understanding is critical for surgical training and robotic decision-making in robot-assisted surgery. Recent advances in Multimodal Large Language Models (MLLMs) ha…
TR2M: Transferring Monocular Relative Depth to Metric Depth with Language Descriptions and Dual-Level Scale-Oriented Contrast
Beilei Cui, Yiming Huang, Long Bai +1
This work presents a generalizable framework to transfer relative depth to metric depth. Current monocular depth estimation methods are mainly divided into metric depth estimation…
Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras
Beilei Cui, Long Bai, Mobarakol Islam +8
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…
Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping
Yiming Huang, Beilei Cui, Long Bai +5
Simultaneous Localization and Mapping (SLAM) is essential for precise surgical interventions and robotic tasks in minimally invasive procedures. While recent advancements in 3D Gau…
Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting
Yiming Huang, Beilei Cui, Long Bai +4
In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fi…