Deducing the 3D structure of endoscopic scenes from images is exceedingly challenging. In
addition to deformation and view-dependent lighting, tubular structures like the colon …

Video streams are utilised to guide minimally-invasive surgery and diagnosis in a wide
range of procedures, and many computer-assisted techniques have been developed to …

In ureteroscopy a flexible ureteroscope is used to inspect the kidneys and the ureters. In this
context, we investigate robotic solutions that leverage recent developments from …

Endoscopy is the gold standard procedure for early detection and treatment of numerous
diseases. Obtaining 3D reconstructions from real endoscopic videos would facilitate the …

Deformable tracking and real-time estimation of 3D tissue motion is essential to enable
automation and image guidance applications in robotically assisted surgery. Our model …

Unlike in natural images, in endoscopy there is no clear notion of an up-right camera
orientation. Endoscopic videos therefore often contain large rotational motions, which …

Within colorectal cancer diagnostics, conventional colonoscopy techniques face critical
limitations, including a limited field of view and a lack of depth information, which can …

Feature detection and matching is a computer vision problem that underpins different
computer assisted techniques in endoscopy, including anatomy and lesion recognition …

Minimally invasive surgery (MIS) remains technically demanding due to the difficulty of
tracking hidden critical structures within the moving anatomy of the patient. In this study, we …

Current deep visual local feature detectors do not model the spatial uncertainty of detected
features, producing suboptimal results in downstream applications. In this work, we propose …