{"id":"https://openalex.org/W3207247359","doi":"https://doi.org/10.1109/icra48506.2021.9561772","title":"3D Reconstruction of Deformable Colon Structures based on Preoperative Model and Deep Neural Network","display_name":"3D Reconstruction of Deformable Colon Structures based on Preoperative Model and Deep Neural Network","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207247359","doi":"https://doi.org/10.1109/icra48506.2021.9561772","mag":"3207247359"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100328947","display_name":"Shuai Zhang","orcid":"https://orcid.org/0000-0003-4291-8170"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU","CN"],"is_corresponding":true,"raw_author_name":"Shuai Zhang","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology Sydney","Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069782955","display_name":"Liang Zhao","orcid":"https://orcid.org/0000-0003-4063-8183"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Liang Zhao","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101511469","display_name":"Ruibin Ma","orcid":"https://orcid.org/0000-0002-1209-3588"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruibin Ma","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, United States"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, United States","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077845155","display_name":"Boni Hu","orcid":"https://orcid.org/0009-0001-4984-164X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boni Hu","raw_affiliation_strings":["School of Aeronautics, Northwestern Polytechnical University, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037660521","display_name":"Qi Hao","orcid":"https://orcid.org/0000-0002-2792-5965"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Hao","raw_affiliation_strings":["Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China","Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100328947"],"corresponding_institution_ids":["https://openalex.org/I114017466","https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.5826,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69170478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1875","last_page":"1881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.82967209815979},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7531814575195312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7031150460243225},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6939981579780579},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6852075457572937},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.6215564012527466},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6130856871604919},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5981189608573914},{"id":"https://openalex.org/keywords/surface-reconstruction","display_name":"Surface reconstruction","score":0.5285305380821228},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30281373858451843},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.23260995745658875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14330169558525085}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.82967209815979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7531814575195312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7031150460243225},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6939981579780579},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6852075457572937},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.6215564012527466},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6130856871604919},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5981189608573914},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.5285305380821228},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30281373858451843},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.23260995745658875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14330169558525085},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W45833512","https://openalex.org/W1985581662","https://openalex.org/W1997748557","https://openalex.org/W2047947369","https://openalex.org/W2093973056","https://openalex.org/W2097649661","https://openalex.org/W2117763561","https://openalex.org/W2126945850","https://openalex.org/W2137742453","https://openalex.org/W2164586467","https://openalex.org/W2320150036","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2492850588","https://openalex.org/W2751100193","https://openalex.org/W2770363598","https://openalex.org/W2905722916","https://openalex.org/W2907670226","https://openalex.org/W2939157633","https://openalex.org/W2962793481","https://openalex.org/W2979635764","https://openalex.org/W3012993789","https://openalex.org/W3017059628","https://openalex.org/W3035346684","https://openalex.org/W3090011935","https://openalex.org/W3099097979","https://openalex.org/W4246818198","https://openalex.org/W4289082871","https://openalex.org/W6684142872","https://openalex.org/W6757246177","https://openalex.org/W6769202504"],"related_works":["https://openalex.org/W2051437301","https://openalex.org/W4386533624","https://openalex.org/W2138227936","https://openalex.org/W2368534456","https://openalex.org/W4205750591","https://openalex.org/W4386065843","https://openalex.org/W4387713683","https://openalex.org/W2374267922","https://openalex.org/W2361733956","https://openalex.org/W2366389387"],"abstract_inverted_index":{"In":[0],"colonoscopy":[1,182],"procedures,":[2],"it":[3],"is":[4,70,129],"important":[5],"to":[6,13,23,55,77,121,131],"rebuild":[7],"and":[8,18,28,40,52,107,157,164,178],"visualize":[9],"the":[10,15,24,31,74,79,122,142,146,165,168,171],"colonic":[11,149],"surface":[12,150],"minimize":[14],"missing":[16],"regions":[17],"reinspect":[19],"for":[20,46,117,174],"abnormalities.":[21],"Due":[22],"fast":[25],"camera":[26,104],"motion":[27,105],"deformation":[29,110],"of":[30,49,145,155,170],"colon":[32,50,64,81,124],"in":[33,59,153,181],"standard":[34],"forward-viewing":[35],"colonoscopies,":[36],"traditional":[37],"simultaneous":[38],"localization":[39],"mapping":[41],"(SLAM)":[42],"systems":[43],"work":[44],"poorly":[45],"3D":[47,80,119,148],"reconstruction":[48,151],"surfaces":[51],"are":[53,161],"prone":[54],"severe":[56],"drift.":[57],"Thus":[58],"this":[60],"paper,":[61],"a":[62,95],"preoperative":[63],"model":[65],"segmented":[66,123],"from":[67,90],"CT":[68],"scans":[69,120],"used":[71,130],"together":[72],"with":[73,136],"colonoscopic":[75,92],"images":[76,93],"achieve":[78],"reconstruction.":[82],"The":[83],"proposed":[84,147,172],"framework":[85,173],"includes":[86],"dense":[87],"depth":[88],"estimation":[89,106],"monocular":[91],"using":[94],"deep":[96],"neural":[97],"network":[98],"(DNN),":[99],"visual":[100],"odometry":[101],"(VO)":[102],"based":[103,113],"an":[108],"embedded":[109],"(ED)":[111],"graph":[112],"non-rigid":[114],"registration":[115],"algorithm":[116],"deforming":[118],"model.":[125],"A":[126],"realistic":[127],"simulator":[128],"generate":[132],"different":[133],"simulation":[134],"datasets":[135],"ground":[137],"truth.":[138],"Simulation":[139],"results":[140,166],"demonstrate":[141],"good":[143],"performance":[144],"method":[152],"terms":[154],"accuracy":[156],"robustness.":[158],"In-vivo":[159],"experiments":[160],"also":[162],"conducted":[163],"show":[167],"practicality":[169],"providing":[175],"useful":[176],"shape":[177],"texture":[179],"information":[180],"applications.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}