5 papers
Understanding Model Behavior in Monocular Polyp Sizing
Xinqi Xiong, Andrea Dunn Beltran, Junmyeong Choi +3
Accurate polyp size stratification guides surveillance decisions, with lesions larger than 5 mm typically requiring closer follow-up. However, monocular colonoscopy lacks a reliabl…
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…
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…
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…
Leveraging Near-Field Lighting for Monocular Depth Estimation from Endoscopy Videos
Akshay Paruchuri, Samuel Ehrenstein, Shuxian Wang +4
Monocular depth estimation in endoscopy videos can enable assistive and robotic surgery to obtain better coverage of the organ and detection of various health issues. Despite promi…