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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…
NR-SLAM: Non-Rigid Monocular SLAM
Juan J. Gomez Rodriguez, J. M. M Montiel, Juan D. Tardos
In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The form…
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…