Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery

no code implementations • 17 May 2017 • Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery.

Depth Estimation Depth Prediction

Robust Image Descriptors for Real-Time Inter-Examination Retargeting in Gastrointestinal Endoscopy

no code implementations • 18 May 2016 • Menglong Ye, Edward Johns, Benjamin Walter, Alexander Meining, Guang-Zhong Yang

Despite successes with optical biopsy for in vivo and in situ tissue characterisation, biopsy retargeting for serial examinations is challenging because tissue may change in appearance between examinations.

Real-time 3D Tracking of Articulated Tools for Robotic Surgery

no code implementations • 11 May 2016 • Menglong Ye, Lin Zhang, Stamatia Giannarou, Guang-Zhong Yang

The proposed method is based on the CAD model of the tools as well as robot kinematics to generate online part-based templates for efficient 2D matching and 3D pose estimation.

3D Pose Estimation Skills Assessment