73 citations · 118 across the 7 of their papers we have counts for
7 papers
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…
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…
ColonMapper: topological mapping and localization for colonoscopy
Javier Morlana, Juan D. Tardós, J. M. M. Montiel
We propose a topological mapping and localization system able to operate on real human colonoscopies, despite significant shape and illumination changes. The map is a graph where e…
EndoMapper dataset of complete calibrated endoscopy procedures
Pablo Azagra, Carlos Sostres, Ángel Ferrandez +15
Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and…
Reuse your features: unifying retrieval and feature-metric alignment
Javier Morlana, J. M. M. Montiel
We propose a compact pipeline to unify all the steps of Visual Localization: image retrieval, candidate re-ranking and initial pose estimation, and camera pose refinement. Our key…
SuperPoint features in endoscopy
O. L. Barbed, F. Chadebecq, J. Morlana +2
There is often a significant gap between research results and applicability in routine medical practice. This work studies the performance of well-known local features on a medical…
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…