6.7k citations · 7.1k across the 13 of their papers we have counts for
16 papers
LightDepth: Single-View Depth Self-Supervision from Illumination Decline
Javier Rodríguez-Puigvert, Víctor M. Batlle, J. M. M. Montiel +4
Single-view depth estimation can be remarkably effective if there is enough ground-truth depth data for supervised training. However, there are scenarios, especially in medicine in…
SimCol3D -- 3D Reconstruction during Colonoscopy Challenge
Anita Rau, Sophia Bano, Yueming Jin +19
Colorectal cancer is one of the most common cancers in the world. While colonoscopy is an effective screening technique, navigating an endoscope through the colon to detect polyps…
Photometric single-view dense 3D reconstruction in endoscopy
Victor M. Batlle, J. M. M. Montiel, Juan D. Tardos
Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular image…
EndoMapper dataset of complete calibrated endoscopy procedures
Pablo Azagra, Carlos Sostres, Ángel Ferrandez +15
Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and…
Reuse your features: unifying retrieval and feature-metric alignment
Javier Morlana, J. M. M. Montiel
We propose a compact pipeline to unify all the steps of Visual Localization: image retrieval, candidate re-ranking and initial pose estimation, and camera pose refinement. Our key…
SuperPoint features in endoscopy
O. L. Barbed, F. Chadebecq, J. Morlana +2
There is often a significant gap between research results and applicability in routine medical practice. This work studies the performance of well-known local features on a medical…
Direct and Sparse Deformable Tracking
Jose Lamarca, Juan J. Gomez Rodriguez, Juan D. Tardos +1
Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use a template-based deformable tracking to recov…
Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraints
David Recasens, José Lamarca, José M. Fácil +2
Estimating a scene reconstruction and the camera motion from in-body videos is challenging due to several factors, e.g. the deformation of in-body cavities or the lack of texture.…
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
Juan J. Gómez Rodríguez, José Lamarca, Javier Morlana +2
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM…
Inertial-Only Optimization for Visual-Inertial Initialization
Carlos Campos, José M. M. Montiel, Juan D. Tardós
We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly t…
ORBSLAM-Atlas: a robust and accurate multi-map system
Richard Elvira, Juan D. Tardós, J. M. M. Montiel
We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common reg…
DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences
Jose Lamarca, Shaifali Parashar, Adrien Bartoli +1
Monocular SLAM algorithms perform robustly when observing rigid scenes, however, they fail when the observed scene deforms, for example, in medical endoscopy applications. We prese…
Direct Sparse Mapping
Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel
Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present,…
Real-time Monocular Object SLAM
Dorian Gálvez-López, Marta Salas, Juan D. Tardós +1
We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that e…
ORB-SLAM: a Versatile and Accurate Monocular SLAM System
Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos
This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe…
3D Hand Pose Detection in Egocentric RGB-D Images
Gregory Rogez, James S. Supancic, Maryam Khademi +2
We focus on the task of everyday hand pose estimation from egocentric viewpoints. For this task, we show that depth sensors are particularly informative for extracting near-field i…