Work

A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots

Year: 2017

Type: article

Abstract: Since the development of capsule endoscopy technology, medical device companies and research groups have made significant progress to turn passive capsule endoscopes into robotic active capsule endoscopes. However, the use of robotic capsules in endoscopy still has some challenges. One such challenge is the precise localization of the actively controlled robot in real-time. In this paper, we propose a non-rigid map fusion based direct simultaneous localization and mapping method for endoscopic capsule robots. The proposed method achieves high accuracy for extensive evaluations of pose estimation and map reconstruction performed on a non-rigid, realistic surgical EsophagoGastroDuodenoscopy Simulator and outperforms state-of-the art methods.

Source: International Journal of Intelligent Robotics and Applications

DOI: 10.1007/s41315-017-0036-4

Authors: Mehmet Turan, Yasin Almalioglu, Helder Araujo, Ender Konukoglu, Metin Sitti

Institutions: ETH Zurich, Max Planck Institute for Intelligent Systems, Computer Vision Laboratory, University of Coimbra

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,290

Funder: Max-Planck-Gesellschaft