Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction
Ruofeng Wei,Bin Li,Hangjie Mo,Fangxun Zhong,Yonghao Long,Qi Dou,Yun-Hui Liu,Dong Sun,Ruofeng Wei,Bin Li,Hangjie Mo,Fangxun Zhong,Yonghao Long,Qi Dou,Yun-Hui Liu,Dong Sun
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-based surgical systems due to the use of monocular endoscopy. In this paper, we present a novel framewor...
