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dc.contributor.author
Turan, Mehmet
dc.contributor.author
Almalioglu, Yasin
dc.contributor.author
Araujo, Helder
dc.contributor.author
Konukoglu, Ender
dc.contributor.author
Sitti, Metin
dc.date.accessioned
2018-01-30T12:17:10Z
dc.date.available
2018-01-29T13:31:33Z
dc.date.available
2018-01-30T12:17:10Z
dc.date.issued
2017-12
dc.identifier.other
10.1007/s41315-017-0036-4
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/236254
dc.identifier.doi
10.3929/ethz-b-000236254
dc.description.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.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Springer
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Endoscopic capsule robot
en_US
dc.subject
Dense direct medical SLAM
en_US
dc.subject
Non-rigid frame-to-model fusion
en_US
dc.title
A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 4.0 International
dc.date.published
2017-11-24
ethz.journal.title
International Journal of Intelligent Robotics and Applications
ethz.journal.volume
1
en_US
ethz.journal.issue
4
en_US
ethz.pages.start
399
en_US
ethz.pages.end
409
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.publication.place
Singapore
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02652 - Institut für Bildverarbeitung / Computer Vision Laboratory::09579 - Konukoglu, Ender / Konukoglu, Ender
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02652 - Institut für Bildverarbeitung / Computer Vision Laboratory::09579 - Konukoglu, Ender / Konukoglu, Ender
ethz.date.deposited
2018-01-29T13:31:34Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-01-30T12:17:19Z
ethz.rosetta.lastUpdated
2018-11-06T07:39:41Z
ethz.rosetta.versionExported
true
ethz.COinS
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