publications

2026

1. MICCAI

   

   CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy

   Liangjing Shao, Beilei Cui, and Hongliang Ren^†

   In International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2026

   arXiv Bib

   @inproceedings{shao2026coge,
     title = {CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy},
     author = {Shao, Liangjing and Cui, Beilei and Ren, Hongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
     pages = {584--594},
     year = {2026},
     organization = {Springer},
   }

2. ICRA

   

   EndoDDC: Learning Sparse to Dense Reconstruction for Endoscopic Robotic Navigation via Diffusion Depth Completion

   Yinheng Lin^*, Yiming Huang^*, Beilei Cui, Long Bai, Huxin Gao, and 2 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2026

   arXiv Bib Code

   @inproceedings{lin2026endoddc,
     title = {EndoDDC: Learning Sparse to Dense Reconstruction for Endoscopic Robotic Navigation via Diffusion Depth Completion},
     author = {Lin, Yinheng and Huang, Yiming and Cui, Beilei and Bai, Long and Gao, Huxin and Ren, Hongliang and Lai, Jiewen},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
   }

3. CVPR

   

   TR2M: Transferring Monocular Relative Depth to Metric Depth with Language Descriptions and Scale-Oriented Contrast

   Beilei Cui^*, Yiming Huang^*, Long Bai, and Hongliang Ren^†

   In Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR), 2026

   arXiv Bib Code

   @inproceedings{cui2025tr2m,
     title = {TR2M: Transferring Monocular Relative Depth to Metric Depth with Language Descriptions and Scale-Oriented Contrast},
     author = {Cui, Beilei and Huang, Yiming and Bai, Long and Ren, Hongliang},
     booktitle = {Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR)},
     pages = {100--100},
     year = {2026},
     publisher = {IEEE},
   }

2025

1. MICCAI

   

   SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splatting

   Yiming Huang^*, Long Bai^*, Beilei Cui^*, Kun Yuan, Guankun Wang, and 4 more authors

   In International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2025

   MICCAI Young Scientist Award, 5/3677

   DOI arXiv Bib HTML Code

   @inproceedings{huang2025surgtpgs,
     title = {SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splatting},
     author = {Huang, Yiming and Bai, Long and Cui, Beilei and Yuan, Kun and Wang, Guankun and Hoque, Mobarak I and Padoy, Nicolas and Navab, Nassir and Ren, Hongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
     pages = {584--594},
     year = {2025},
     organization = {Springer},
     doi = {10.1007/978-3-032-05114-1_56},
     note = {MICCAI Young Scientist Award, 5/3677},
   }

2. MICCAI

   

   Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splatting

   Yiming Huang^*, Long Bai^*, Beilei Cui^*, Yanheng Li, Tong Chen, and 5 more authors

   In International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2025

   DOI arXiv Bib HTML Code

   @inproceedings{huang2025endo,
     title = {Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splatting},
     author = {Huang, Yiming and Bai, Long and Cui, Beilei and Li, Yanheng and Chen, Tong and Wang, Jie and Wu, Jinlin and Lei, Zhen and Liu, Hongbin and Ren, Hongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
     pages = {181--191},
     year = {2025},
     organization = {Springer},
     doi = {10.1007/978-3-032-05114-1_18},
   }

3. Inform Fusion

   

   Multimodal graph representation learning for robust surgical workflow recognition with adversarial feature disentanglement

   Long Bai, Boyi Ma, Ruohan Wang, Guankun Wang, Beilei Cui, and 6 more authors

   Information Fusion, 2025

   Bib HTML

   @article{bai2025multimodal,
     title = {Multimodal graph representation learning for robust surgical workflow recognition with adversarial feature disentanglement},
     author = {Bai, Long and Ma, Boyi and Wang, Ruohan and Wang, Guankun and Cui, Beilei and Jiang, Zhongliang and Islam, Mobarakol and Min, Zhe and Lai, Jiewen and Navab, Nassir and Ren, Hongliang},
     journal = {Information Fusion},
     pages = {103290},
     year = {2025},
     publisher = {Elsevier},
   }

4. arxiv

   

   Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras

   Beilei Cui^*, Long Bai^*, Mobarakol Islam^*, An Wang, Zhiqi Ma, and 6 more authors

   arXiv preprint arXiv:2503.15917, 2025

   arXiv Bib Code

   @article{cui2025learning,
     title = {Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras},
     author = {Cui, Beilei and Bai, Long and Islam, Mobarakol and Wang, An and Ma, Zhiqi and Huang, Yiming and Li, Feng and Chen, Zhen and Jiang, Zhongliang and Navab, Nassir and Ren, Hongliang},
     journal = {arXiv preprint arXiv:2503.15917},
     year = {2025},
   }

5. ICRA

   

   Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping

   Yiming Huang^*, Beilei Cui^*, Long Bai^*, Zhen Chen, Jinlin Wu, and 3 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Bib Code

   @inproceedings{huang2025advancing,
     title = {Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping},
     author = {Huang, Yiming and Cui, Beilei and Bai, Long and Chen, Zhen and Wu, Jinlin and Li, Zhen and Liu, Hongbin and Ren, Hongliang},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

6. TASE

   

   V ^2-SfMLearner: Learning Monocular Depth and Ego-motion for Multimodal Wireless Capsule Endoscopy

   Long Bai^*, Beilei Cui^*, Liangyu Wang^*, Yanheng Li, Shilong Yao, and 6 more authors

   IEEE Transactions on Automation Science and Engineering (TASE), 2025

   arXiv Bib

   @article{bai2024v,
     title = {V $^{2}$-SfMLearner: Learning Monocular Depth and Ego-motion for Multimodal Wireless Capsule Endoscopy},
     author = {Bai, Long and Cui, Beilei and Wang, Liangyu and Li, Yanheng and Yao, Shilong and Yuan, Sishen and Wu, Yanan and Zhang, Yang and Meng, Max Q-H and Li, Zhen and Ren, Hongliang},
     journal = {IEEE Transactions on Automation Science and Engineering (TASE)},
     volume = {},
     number = {},
     pages = {},
     year = {2025},
     publisher = {IEEE},
   }

7. Handbook of Robotic Surgery

   

   3D reconstruction of deformable tissues in robotic surgery

   Mengya Xu, Tiebing Tang, Ziqi Guo, An Wang, Beilei Cui, and 2 more authors

   Handbook of Robotic Surgery, 2025

   Bib

   @article{xu20253d,
     title = {3D reconstruction of deformable tissues in robotic surgery},
     author = {Xu, Mengya and Tang, Tiebing and Guo, Ziqi and Wang, An and Cui, Beilei and Bai, Long and Ren, Hongliang},
     journal = {Handbook of Robotic Surgery},
     pages = {81--88},
     year = {2025},
     publisher = {Elsevier},
   }

2024

1. MICCAI SASHIMI Workshop

   

   Benchmarking Robustness of Endoscopic Depth Estimation with Synthetically Corrupted Data

   An Wang, Haochen Yin, Beilei Cui, Mengya Xu, and Hongliang Ren^†

   In International Workshop on Simulation and Synthesis in Medical Imaging, 2024

   DOI arXiv Bib HTML Code

   @inproceedings{wang2024benchmarking,
     title = {Benchmarking Robustness of Endoscopic Depth Estimation with Synthetically Corrupted Data},
     author = {Wang, An and Yin, Haochen and Cui, Beilei and Xu, Mengya and Ren, Hongliang},
     booktitle = {International Workshop on Simulation and Synthesis in Medical Imaging},
     pages = {45--57},
     year = {2024},
     organization = {Springer},
     doi = {10.1007/978-3-031-73281-2_5},
   }

2. Nature Communications

   

   Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas

   Sishen Yuan^*, Chao Xu^*, Beilei Cui^*, Tinghua Zhang, Baijia Liang, and 2 more authors

   Nature Communications, 2024

   DOI Bib HTML

   @article{yuan2024motor,
     title = {Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas},
     author = {Yuan, Sishen and Xu, Chao and Cui, Beilei and Zhang, Tinghua and Liang, Baijia and Yuan, Wu and Ren, Hongliang},
     journal = {Nature Communications},
     volume = {15},
     number = {1},
     pages = {7680},
     year = {2024},
     publisher = {Nature Publishing Group UK London},
     doi = {10.1038/s41467-024-51633-x},
   }

3. ROBIO

   

   Registering Neural 4D Gaussians for Endoscopic Surgery

   Yiming Huang, Beilei Cui, Jiekai Zhang, Long Bai, and Hongliang Ren^†

   IEEE International Conference On Robotics And Biomimetics (ROBIO), 2024

   arXiv Bib

   @article{huang2024registering,
     title = {Registering Neural 4D Gaussians for Endoscopic Surgery},
     author = {Huang, Yiming and Cui, Beilei and Zhang, Jiekai and Bai, Long and Ren, Hongliang},
     journal = {IEEE International Conference On Robotics And Biomimetics (ROBIO)},
     year = {2024},
   }

4. ICBIR & MRF

   

   Head Pose Estimation and 3D Neural Surface Reconstruction via Monocular Camera in situ for Navigation and Safe Insertion into Natural Openings

   Ruijie Tang^*, Beilei Cui^*, and Hongliang Ren^†

   International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum (ICBIR & MRF), 2024

   arXiv Bib HTML

   @article{tang2024head,
     title = {Head Pose Estimation and 3D Neural Surface Reconstruction via Monocular Camera in situ for Navigation and Safe Insertion into Natural Openings},
     author = {Tang, Ruijie and Cui, Beilei and Ren, Hongliang},
     journal = {International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum (ICBIR & MRF)},
     year = {2024},
   }

5. MICCAI

   

   EndoDAC: Efficient Adapting Foundation Model for Self-Supervised Depth Estimation from Any Endoscopic Camera

   Beilei Cui^*, Mobarakol Islam^*, Long Bai^*, An Wang, and Hongliang Ren^†

   In International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024

   Early Accept, top 11%

   arXiv Bib HTML Code

   @inproceedings{cui2024endodac,
     title = {EndoDAC: Efficient Adapting Foundation Model for Self-Supervised Depth Estimation from Any Endoscopic Camera},
     author = {Cui, Beilei and Islam, Mobarakol and Bai, Long and Wang, An and Ren, Hongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
     pages = {90--100},
     year = {2024},
     organization = {Springer},
     note = {Early Accept, top 11%},
   }

6. MICCAI

   

   Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting

   Yiming Huang^*, Beilei Cui^*, Long Bai^*, Ziqi Guo, Mengya Xu, and 1 more author

   In International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024

   arXiv Bib HTML Code

   @inproceedings{huang2024endo,
     title = {Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting},
     author = {Huang, Yiming and Cui, Beilei and Bai, Long and Guo, Ziqi and Xu, Mengya and Ren, Hongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
     pages = {90--100},
     year = {2024},
     organization = {Springer},
   }

7. IPCAI

   

   Surgical-DINO: Adapter Learning of Foundation Models for Depth Estimation in Endoscopic Surgery

   Beilei Cui^*, Mobarakol Islam^*, Long Bai, and Hongliang Ren^†

   In International Journal of Computer Assisted Radiology and Surgery (IJCARS) IPCAI, 2024

   Long Oral, Best Paper Awards Shortlist

   DOI arXiv Bib HTML Code

   @inproceedings{cui2024surgical,
     title = {Surgical-DINO: Adapter Learning of Foundation Models for Depth Estimation in Endoscopic Surgery},
     author = {Cui, Beilei and Islam, Mobarakol and Bai, Long and Ren, Hongliang},
     booktitle = {International Journal of Computer Assisted Radiology and Surgery (IJCARS) IPCAI},
     year = {2024},
     note = {Long Oral, Best Paper Awards Shortlist},
     doi = {10.1007/s11548-024-03083-5},
   }

2023

1. MICCAI

   

   Rectifying Noisy Labels with Sequential Prior: Multi-scale Temporal Feature Affinity Learning for Robust Video Segmentation

   Beilei Cui^*, Minqing Zhang^*, Mengya Xu^*, An Wang, Wu Yuan, and 1 more author

   In International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2023

   DOI arXiv Bib HTML Code

   @inproceedings{cui2023rectifying,
     title = {Rectifying Noisy Labels with Sequential Prior: Multi-scale Temporal Feature Affinity Learning for Robust Video Segmentation},
     author = {Cui, Beilei and Zhang, Minqing and Xu, Mengya and Wang, An and Yuan, Wu and Ren, Hongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
     pages = {90--100},
     year = {2023},
     organization = {Springer},
     doi = {10.1007/978-3-031-43996-4_9},
   }

2020

1. HPCC/SmartCity/DSS

   

   An Intelligent Traffic Light Control System Based on Dual Mode Special Vehicle Identification

   Beilei Cui, Erxiang Ren, and Li Luo^†

   In 2020 IEEE 22nd International Conference on High Performance Computing and Communications; IEEE 18th International Conference on Smart City; IEEE 6th International Conference on Data Science and Systems (HPCC/SmartCity/DSS), 2020

   DOI Bib HTML

   @inproceedings{cui2020intelligent,
     title = {An Intelligent Traffic Light Control System Based on Dual Mode Special Vehicle Identification},
     author = {Cui, Beilei and Ren, Erxiang and Luo, Li},
     booktitle = {2020 IEEE 22nd International Conference on High Performance Computing and Communications; IEEE 18th International Conference on Smart City; IEEE 6th International Conference on Data Science and Systems (HPCC/SmartCity/DSS)},
     pages = {1120--1125},
     doi = {10.1109/HPCC-SmartCity-DSS50907.2020.00198},
     year = {2020},
     organization = {IEEE},
   }