Magnetic-visual sensor fusion-based dense 3d reconstruction and localization for endoscopic capsule robots
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Date
2018-03-02
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Working Paper
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yes
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Abstract
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the nav- igation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic tech- nology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly real- time, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines mag- netic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm.
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published
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1803.01048
Publisher
Cornell University
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Subject
Deep Learning; Endoscopy
Organisational unit
09474 - Yanik, Mehmet Fatih / Yanik, Mehmet Fatih
09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)