Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots
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2018
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Conference 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 navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology 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 magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is evaluated 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 vary from 1.58 to 2.17 cm.
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published
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2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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1283 - 1289
Publisher
IEEE
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
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09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)