Qifei Cui

Qifei Cui, Patrick Chen

Egocentric videos present unique challenges for 3D reconstruction due to rapid camera motion and frequent dynamic interactions. State-of-the-art static reconstruction systems, such as MapAnything, often degrade in these settings, suffering from catastrophic trajectory drift and "ghost" geometry caused by moving hands. We bridge this gap by proposing a robust pipeline that adapts static reconstruction backbones to long-form egocentric video. Our approach introduces a mask-aware reconstruction mechanism that explicitly suppresses dynamic foreground in the attention layers, preventing hand artifacts from contaminating the static map. Furthermore, we employ a chunked reconstruction strategy with pose-graph stitching to ensure global consistency and eliminate long-term drift. Experiments on HD-EPIC and indoor drone datasets demonstrate that our pipeline significantly improves absolute trajectory error and yields visually clean static geometry compared to naive baselines, effectively extending the capability of foundation models to dynamic first-person scenes.

Qifei Cui, Xinyu Lu

This work introduces a novel framework for brain tumor segmentation leveraging pre-trained GANs and Unet architectures. By combining a global anomaly detection module with a refined mask generation network, the proposed model accurately identifies tumor-sensitive regions and iteratively enhances segmentation precision using adversarial loss constraints. Multi-modal MRI data and synthetic image augmentation are employed to improve robustness and address the challenge of limited annotated datasets. Experimental results on the BraTS dataset demonstrate the effectiveness of the approach, achieving high sensitivity and accuracy in both lesion-wise Dice and HD95 metrics than the baseline. This scalable method minimizes the dependency on fully annotated data, paving the way for practical real-world applications in clinical settings.

Qifei Cui, Yuang Zhou, Ruichen Deng

This paper presents ESFP, an end-to-end pipeline that converts monocular RGB video into executable joint trajectories for a low-cost 4-DoF desktop arm. ESFP comprises four sequential modules. (1) Estimating: ROMP lifts each frame to a 24-joint 3-D skeleton. (2) Smoothing: the proposed HPSTM-a sequence-to-sequence Transformer with self-attention-combines long-range temporal context with a differentiable forward-kinematics decoder, enforcing constant bone lengths and anatomical plausibility while jointly predicting joint means and full covariances. (3) Filtering: root-normalized trajectories are variance-weighted according to HPSTM's uncertainty estimates, suppressing residual noise. (4) Pose-Mapping: a geometric retargeting layer transforms shoulder-elbow-wrist triples into the uArm's polar workspace, preserving wrist orientation.