Accurate geometric reconstruction of deformable tissues in monocular endoscopic video remains a fundamental challenge in robot-assisted minimally invasive surgery. Although recent volumetric and point primitive methods based on neural radiance fields (NeRF) and 3D Gaussian primitives have efficiently rendered surgical scenes, they still struggle with handling artifact-free tool occlusions and preserving fine anatomical details. These limitations stem from unrestricted Gaussian scaling and insufficient surface alignment constraints during reconstruction. To address these issues, we introduce Surgical Gaussian Surfels (SGS), which transform anisotropic point primitives into surface-aligned elliptical splats by constraining the scale component of the Gaussian covariance matrix along the view-aligned axis. We also introduce the Fully Fused Deformation Multilayer Perceptron (FFD-MLP), a lightweight Multi-Layer Perceptron (MLP) that predicts accurate surfel motion fields up to 5× faster than a standard MLP. This is coupled with locality constraints to handle complex tissue deformations. We use homodirectional view-space positional gradients to capture fine image details by splitting Gaussian Surfels in over-reconstructed regions. In addition, we define surface normals as the direction of the steepest density change within each Gaussian surfel primitive, enabling accurate normal estimation without requiring monocular normal priors. We evaluate our method on two in-vivo surgical datasets, where it outperforms current state-of-the-art methods in surface geometry, normal map quality, and rendering efficiency, while remaining competitive in real-time rendering performance. Code is available at https://git.new/NexyiHu.

Determining the vanishing points (VPs) in a Manhattan world, as a fundamental task in many 3D vision applications, consists of jointly inferring the line-VP association and locating each VP. Existing methods are, however, either sub-optimal solvers or pursuing global optimality at a significant cost of computing time. In contrast to prior works, we introduce convex relaxation techniques to solve this task for the first time. Specifically, we employ a "soft" association scheme, realized via a truncated multi-selection error, that allows for joint estimation of VPs’ locations and line-VP associations. This approach leads to a primal problem that can be reformulated into a quadratically constrained quadratic programming (QCQP) problem, which is then relaxed into a convex semidefinite programming (SDP) problem. To solve this SDP problem efficiently, we present a globally optimal outlier-robust iterative solver (called GlobustVP), which independently searches for one VP and its associated lines in each iteration, treating other lines as outliers. After each independent update of all VPs, the mutual orthogonality between the three VPs in a Manhattan world is reinforced via local refinement. Extensive experiments on both synthetic and real-world data demonstrate that GlobustVP achieves a favorable balance between efficiency, robustness, and global optimality compared to previous works. The code is publicly available at github.com/wu-cvgl/GlobustVP.

Heuristic information for consensus set sampling is essential for correspondence-based point cloud registration, but existing approaches typically rely on supervised learning or expert-driven parameter tuning. In this work, we propose HeMoRa, a new unsupervised framework that trains a Heuristic information Generator (HeGen) to estimate sampling probabilities for correspondences using a Multi-order Reward Aggregator (MoRa) loss. The core of MoRa is to train HeGen through extensive trials and feedback, enabling unsupervised learning. While this process can be implemented using policy optimization, directly applying the policy gradient to optimize HeGen presents challenges such as sensitivity to noise and low reward efficiency. To address these issues, we propose a Maximal Reward Propagation (MRP) mechanism that enhances the training process by prioritizing noise-free signals and improving reward utilization. Experimental results show that equipped with HeMoRa, the consensus set sampler achieves improvements in both robustness and accuracy. For example, on the 3DMatch dataset with FCGF feature, the registration recall of our unsupervised methods (Ours+SM and Ours+SC2) even outperforms the state-of-the-art supervised method VBreg. Our code is available at HeMoRa.

Robust estimation is essential in correspondence-based Point Cloud Registration (PCR). Existing methods using maximal clique search in compatibility graphs achieve high recall but suffer from exponential time complexity, limiting their use in time-sensitive applications. To address this challenge, we propose a fast and robust estimator, TurboReg, built upon a novel lightweight clique, TurboClique, and a highly parallelizable Pivot-Guided Search (PGS) algorithm. First, we define the TurboClique as a 3-clique within a highly-constrained compatibility graph. The lightweight nature of the 3-clique allows for efficient parallel searching, and the highly-constrained compatibility graph ensures robust spatial consistency for stable transformation estimation. Next, PGS selects matching pairs with high SC$^2$ scores as pivots, effectively guiding the search toward TurboCliques with higher inlier ratios. Moreover, the PGS algorithm has linear time complexity and is significantly more efficient than the maximal clique search with exponential time complexity. Extensive experiments show that TurboReg achieves state-of-the-art performance across multiple real-world datasets, with substantial speed improvements. For example, on the 3DMatch+FCGF dataset, TurboReg (1K) operates $208.22\times$ faster than 3DMAC while also achieving higher recall. Our code is accessible at \href{https://github.com/Laka-3DV/TurboReg}{\texttt{TurboReg}}.

Realistic animatable human avatars from monocular videos are crucial for advancing human-robot interaction and enhancing immersive virtual experiences. While recent research on 3DGS-based human avatars has made progress, it still struggles with accurately representing detailed features of non-rigid objects (e.g., clothing deformations) and dynamic regions (e.g., rapidly moving limbs). To address these challenges, we present STG-Avatar, a 3DGS-based framework for high-fidelity animatable human avatar reconstruction. Specifically, our framework introduces a rigid-nonrigid coupled deformation framework that synergistically integrates Spacetime Gaussians (STG) with linear blend skinning (LBS). In this hybrid design, LBS enables real-time skeletal control by driving global pose transformations, while STG complements it through spacetime-adaptive optimization of 3D Gaussians. Furthermore, we employ optical flow to identify high-dynamic regions and guide the adaptive densification of 3D Gaussians in these regions. Experimental results demonstrate that our method consistently outperforms state-of-the-art baselines in both reconstruction quality and operational efficiency, achieving superior quantitative metrics while retaining real-time rendering capabilities. Our code is available at https://github.com/jiangguangan/STG-Avatar

Local feature detection is a key ingredient of many image processing and computer vision applications, such as visual odometry and localization. Most existing algorithms focus on feature detection from a sharp image. They would thus have degraded performance once the image is blurred, which could happen easily under low-lighting conditions. To address this issue, we propose a simple yet both efficient and effective keypoint detection method that is able to accurately localize the salient keypoints in a blurred image. Our method takes advantages of a novel multi-layer perceptron (MLP) based architecture that significantly improve the detection repeatability for a blurred image. The network is also light-weight and able to run in real-time, which enables its deployment for time-constrained applications. Extensive experimental results demonstrate that our detector is able to improve the detection repeatability with blurred images, while keeping comparable performance as existing state-of-the-art detectors for sharp images. The code and trained weights are publicly available at github.com/ericzzj1989/BALF.

Underwater image enhancement (UIE) is vital for high-level vision-related underwater tasks. Although learning-based UIE methods have made remarkable achievements in recent years, it's still challenging for them to consistently deal with various underwater conditions, which could be caused by: 1) the use of the simplified atmospheric image formation model in UIE may result in severe errors; 2) the network trained solely with synthetic images might have difficulty in generalizing well to real underwater images. In this work, we, for the first time, propose a framework SyreaNet for UIE that integrates both synthetic and real data under the guidance of the revised underwater image formation model and novel domain adaptation (DA) strategies. First, an underwater image synthesis module based on the revised model is proposed. Then, a physically guided disentangled network is designed to predict the clear images by combining both synthetic and real underwater images. The intra- and inter-domain gaps are abridged by fully exchanging the domain knowledge. Extensive experiments demonstrate the superiority of our framework over other state-of-the-art (SOTA) learning-based UIE methods qualitatively and quantitatively. The code and dataset are publicly available at https://github.com/RockWenJJ/SyreaNet.git.

Manhattan and Atlanta worlds hold for the structured scenes with only vertical and horizontal dominant directions (DDs). To describe the scenes with additional sloping DDs, a mixture of independent Manhattan worlds seems plausible, but may lead to unaligned and unrelated DDs. By contrast, we propose a novel structural model called Hong Kong world. It is more general than Manhattan and Atlanta worlds since it can represent the environments with slopes, e.g., a city with hilly terrain, a house with sloping roof, and a loft apartment with staircase. Moreover, it is more compact and accurate than a mixture of independent Manhattan worlds by enforcing the orthogonality constraints between not only vertical and horizontal DDs, but also horizontal and sloping DDs. We further leverage the structural regularity of Hong Kong world for the line-based SLAM. Our SLAM method is reliable thanks to three technical novelties. First, we estimate DDs/vanishing points in Hong Kong world in a semi-searching way. We use a new consensus voting strategy for search, instead of traditional branch and bound. This method is the first one that can simultaneously determine the number of DDs, and achieve quasi-global optimality in terms of the number of inliers. Second, we compute the camera pose by exploiting the spatial relations between DDs in Hong Kong world. This method generates concise polynomials, and thus is more accurate and efficient than existing approaches designed for unstructured scenes. Third, we refine the estimated DDs in Hong Kong world by a novel filter-based method. Then we use these refined DDs to optimize the camera poses and 3D lines, leading to higher accuracy and robustness than existing optimization algorithms. In addition, we establish the first dataset of sequential images in Hong Kong world. Experiments showed that our approach outperforms state-of-the-art methods in terms of accuracy and/or efficiency.

Supply Chain is a typical system that needs to be coordinated. Supply chain contracts are important tools adopted to achieve channel coordination. This paper surveyed typical supply chain contracts, discussed the relationship between supply chain contracts and manufacturing modes, finally pointed out the present researches on supply chain contracts has not considered the characteristic of new high-tech industry and suggested that there should be a new type of supply chain contract for Hightech productions.