Dense Depth Completion Based on Multi-Scale Confidence and Self-Attention Mechanism for Intestinal Endoscopy
Ruyu Liu,Zhengzhe Liu,Haoyu Zhang,Guodao Zhang,Zhigui Zuo,Weiguo Sheng,Ruyu Liu,Zhengzhe Liu,Haoyu Zhang,Guodao Zhang,Zhigui Zuo,Weiguo Sheng
Doctors perform limited one-way intestine endoscopy, in which advanced surgical robots with depth sensors, such as stereo and ToF endoscopes, can only provide sparse and incomplete depth information. However, dense, accurate and instant depth estimation during endoscopy is vital for doctors to judge the 3D location and shape of intestinal tissues, which affects the human-robot interaction between ...
