4 papers
Stop Holding Your Breath: CT-Informed Gaussian Splatting for Dynamic Bronchoscopy
Andrea Dunn Beltran, Daniel Rho, Aarav Mehta +5
Bronchoscopic navigation relies on registering endoscopic video to a preoperative CT scan, but respiratory motion deforms the airway by 5-20 mm, creating CT-to-body divergence that…
VIN-NBV: A View Introspection Network for Next-Best-View Selection
Noah Frahm, Dongxu Zhao, Andrea Dunn Beltran +4
Next Best View (NBV) algorithms aim to maximize 3D scene acquisition quality using minimal resources, e.g. number of acquisitions, time taken, or distance traversed. Prior methods…
PPS-Ctrl: Controllable Sim-to-Real Translation for Colonoscopy Depth Estimation
Xinqi Xiong, Andrea Dunn Beltran, Jun Myeong Choi +2
Accurate depth estimation enhances endoscopy navigation and diagnostics, but obtaining ground-truth depth in clinical settings is challenging. Synthetic datasets are often used for…
NFL-BA: Near-Field Light Bundle Adjustment for SLAM in Dynamic Lighting
Andrea Dunn Beltran, Daniel Rho, Marc Niethammer +1
Simultaneous Localization and Mapping (SLAM) systems typically assume static, distant illumination; however, many real-world scenarios, such as endoscopy, subterranean robotics, an…