{"id":"https://openalex.org/W7135044014","doi":"https://doi.org/10.1109/tro.2026.3672482","title":"Real-Time Monocular 2-D and 3-D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments","display_name":"Real-Time Monocular 2-D and 3-D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7135044014","doi":"https://doi.org/10.1109/tro.2026.3672482"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3672482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3672482","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5128971194","display_name":"Ruofeng Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruofeng Wei","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-7071-4135","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kai Chen","orcid":"https://orcid.org/0000-0002-5028-2603"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-5028-2603","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034829835","display_name":"Yui-Lun Ng","orcid":"https://orcid.org/0000-0002-5750-4897"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yui-Lun Ng","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085438856","display_name":"Yiyao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yiyao Ma","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0009-0003-9480-5845","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126251871","display_name":"Justin Di-Lang Ho","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Justin Di-Lang Ho","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-6280-1135","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010664737","display_name":"Hon\u2010Sing Tong","orcid":"https://orcid.org/0000-0002-3370-7884"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hon-Sing Tong","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-3370-7884","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125496909","display_name":"Xiaomei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiaomei Wang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-4569-6948","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047629234","display_name":"Jing Dai","orcid":"https://orcid.org/0000-0002-2169-3374"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jing Dai","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-2169-3374","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049212334","display_name":"Ka\u2010Wai Kwok","orcid":"https://orcid.org/0000-0003-1879-9730"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ka-Wai Kwok","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-1879-9730","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-3416-9950","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24310658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"1535","last_page":"1555"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8154000043869019,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8154000043869019,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10914","display_name":"Tactile and Sensory Interactions","score":0.031199999153614044,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.02850000001490116,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6974999904632568},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4666999876499176},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.39430001378059387},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.3874000012874603},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.38260000944137573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37860000133514404},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.3517000079154968},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.31220000982284546}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7748000025749207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7450000047683716},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6974999904632568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6118000149726868},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4666999876499176},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.39430001378059387},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3874000012874603},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38260000944137573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37860000133514404},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.3517000079154968},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.31220000982284546},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.29750001430511475},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.2669000029563904},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2549999952316284},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.25270000100135803},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.251800000667572},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3672482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3672482","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W2146990154","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2413403048","https://openalex.org/W2519384515","https://openalex.org/W2760103357","https://openalex.org/W2801213176","https://openalex.org/W2887843334","https://openalex.org/W2896056663","https://openalex.org/W2943828763","https://openalex.org/W2949924544","https://openalex.org/W2950056926","https://openalex.org/W2955639361","https://openalex.org/W2962860144","https://openalex.org/W2962900571","https://openalex.org/W2963756608","https://openalex.org/W2963826402","https://openalex.org/W2985775862","https://openalex.org/W3004322459","https://openalex.org/W3009495571","https://openalex.org/W3019612263","https://openalex.org/W3037426978","https://openalex.org/W3037969311","https://openalex.org/W3081555567","https://openalex.org/W3090564508","https://openalex.org/W3091433050","https://openalex.org/W3096570522","https://openalex.org/W3102722996","https://openalex.org/W3108178121","https://openalex.org/W3117642486","https://openalex.org/W3127501898","https://openalex.org/W3133389372","https://openalex.org/W3164201639","https://openalex.org/W3176659256","https://openalex.org/W3196757288","https://openalex.org/W4205172069","https://openalex.org/W4214520160","https://openalex.org/W4288751198","https://openalex.org/W4291804749","https://openalex.org/W4308945982","https://openalex.org/W4312568777","https://openalex.org/W4312983621","https://openalex.org/W4312997263","https://openalex.org/W4367016760","https://openalex.org/W4377030249","https://openalex.org/W4382657725","https://openalex.org/W4383108494","https://openalex.org/W4385245566","https://openalex.org/W4386527936","https://openalex.org/W4386983002","https://openalex.org/W4387211223","https://openalex.org/W4388797635","https://openalex.org/W4390871510","https://openalex.org/W4390871919","https://openalex.org/W4390874575","https://openalex.org/W4391454598","https://openalex.org/W4392848497","https://openalex.org/W4395481595","https://openalex.org/W4396638264","https://openalex.org/W4400033087","https://openalex.org/W4400525960","https://openalex.org/W4402727359","https://openalex.org/W4403062944","https://openalex.org/W4403062952","https://openalex.org/W4404624926","https://openalex.org/W4410914905","https://openalex.org/W4411272480","https://openalex.org/W7082369706"],"related_works":[],"abstract_inverted_index":{"Endoluminal":[0],"surgery":[1],"offers":[2],"a":[3,21,54,113,126,139,147],"minimally":[4],"invasive":[5],"option":[6],"for":[7,53,128,183],"early-stage":[8],"gastrointestinal":[9],"and":[10,20,76,81,94,106,111,142,158,186],"urinary":[11],"tract,":[12],"but":[13],"is":[14,63],"limited":[15],"by":[16,180],"basic":[17],"surgical":[18,95,192],"tools":[19],"steep":[22],"learning":[23],"curve.":[24],"Robotic":[25],"systems,":[26],"particularly":[27],"continuum":[28,55,92,148],"robots,":[29],"provide":[30],"flexible":[31,79,121,136,175],"instruments":[32,80],"that":[33,116,167],"enable":[34],"precise,":[35],"intuitive":[36],"tissue":[37],"resection":[38],"in":[39,58,138],"confined":[40],"spaces,":[41],"potentially":[42],"improving":[43],"outcomes.":[44],"This":[45,88,123],"paper":[46],"presents":[47],"an":[48],"integrated":[49],"visual":[50],"perception":[51,69,109,163,169],"platform":[52],"robotic":[56,101],"system":[57],"endoluminal":[59,131,197],"surgery.":[60],"Our":[61],"objective":[62],"to":[64,71,195],"leverage":[65],"monocular":[66],"endoscopic":[67],"image-based":[68],"algorithms":[70,110,170],"accurately":[72],"identify":[73],"the":[74,98,118,162,188],"position":[75],"orientation":[77],"of":[78,91,100,120,135,161,174,190],"measure":[82],"their":[83],"distances":[84],"from":[85],"surrounding":[86],"tissues.":[87],"thorough":[89],"understanding":[90,189],"robots":[93,137],"scenes":[96],"enhances":[97],"robustness":[99],"procedures.":[102],"We":[103],"introduce":[104],"2D":[105],"3D":[107],"learning-based":[108],"develop":[112],"physically-realistic":[114],"simulator":[115,124],"models":[117],"dynamics":[119],"instruments.":[122],"features":[125],"pipeline":[127],"generating":[129],"realistic":[130,140],"scenes,":[132],"enabling":[133],"control":[134,173],"environment":[141],"substantial":[143],"data":[144],"collection.":[145],"Using":[146],"robot":[149],"prototype,":[150],"we":[151],"conducted":[152],"extensive":[153],"evaluations,":[154],"including":[155],"module":[156],"assessments":[157],"system-level":[159],"evaluation":[160],"platform.":[164],"Results":[165],"demonstrate":[166],"our":[168],"significantly":[171],"improve":[172],"instruments,":[176],"reducing":[177],"manipulation":[178],"time":[179],"over":[181],"70%":[182],"trajectory-following":[184],"tasks":[185],"enhancing":[187],"complex":[191],"scenarios,":[193],"leading":[194],"robust":[196],"surgeries.":[198]},"counts_by_year":[],"updated_date":"2026-04-02T13:48:15.688549","created_date":"2026-02-19T00:00:00"}
