A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots
Open access
Autor(in)
Alle anzeigen
Datum
2017-12Typ
- Journal Article
ETH Bibliographie
yes
Altmetrics
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. Mehr anzeigen
Persistenter Link
https://doi.org/10.3929/ethz-b-000236254Publikationsstatus
publishedExterne Links
Zeitschrift / Serie
International Journal of Intelligent Robotics and ApplicationsBand
Seiten / Artikelnummer
Verlag
SpringerThema
Endoscopic capsule robot; Dense direct medical SLAM; Non-rigid frame-to-model fusionOrganisationseinheit
02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.09579 - Konukoglu, Ender / Konukoglu, Ender
09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)
ETH Bibliographie
yes
Altmetrics