3 papers
cs.CV2024
Topological SLAM in colonoscopies leveraging deep features and topological priors
Javier Morlana, Juan D. Tardós, José M. M. Montiel
We introduce ColonSLAM, a system that combines classical multiple-map metric SLAM with deep features and topological priors to create topological maps of the whole colon. The SLAM…
cs.CV2023
SimCol3D -- 3D Reconstruction during Colonoscopy Challenge
Anita Rau, Sophia Bano, Yueming Jin +19
Colorectal cancer is one of the most common cancers in the world. While colonoscopy is an effective screening technique, navigating an endoscope through the colon to detect polyps…
cs.CV2020
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
Juan J. Gómez Rodríguez, José Lamarca, Javier Morlana +2
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM…