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C3VD-DEFCOL: A Deformable Colonoscopy Dataset with Time-Resolved 3D Ground Truth and Realistic Appearance
Ethan Luk, Mayank V. Golhar, Anthony Song +5
3D reconstruction could improve colonoscopy by estimating mucosal coverage and alerting clinicians to missed regions during screening. However, algorithm development is limited as…
SuperPoint-E: local features for 3D reconstruction via tracking adaptation in endoscopy
O. Leon Barbed, José M. M. Montiel, Pascal Fua +1
In this work, we focus on boosting the feature extraction to improve the performance of Structure-from-Motion (SfM) in endoscopy videos. We present SuperPoint-E, a new local featur…
3D Densification for Multi-Map Monocular VSLAM in Endoscopy
X. Anadón, Javier Rodríguez-Puigvert, J. M. M. Montiel
Multi-map Sparse Monocular visual Simultaneous Localization and Mapping applied to monocular endoscopic sequences has proven efficient to robustly recover tracking after the freque…
EndoMetric: Near-Light Monocular Metric Scale Estimation in Endoscopy
Raúl Iranzo, Víctor M. Batlle, Juan D. Tardós +1
Geometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms…
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…
LightNeuS: Neural Surface Reconstruction in Endoscopy using Illumination Decline
Víctor M. Batlle, José M. M. Montiel, Pascal Fua +1
We propose a new approach to 3D reconstruction from sequences of images acquired by monocular endoscopes. It is based on two key insights. First, endoluminal cavities are watertigh…
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…
Tracking monocular camera pose and deformation for SLAM inside the human body
Juan J. Gomez Rodriguez, J. M. M Montiel, Juan D. Tardos
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic…