27 citations · 45 across the 6 of their papers we have counts for
6 papers
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…
CudaSIFT-SLAM: multiple-map visual SLAM for full procedure mapping in real human endoscopy
Richard Elvira, Juan D. Tardós, José M. M. Montiel
Monocular visual simultaneous localization and mapping (V-SLAM) is nowadays an irreplaceable tool in mobile robotics and augmented reality, where it performs robustly. However, hum…
LightDepth: Single-View Depth Self-Supervision from Illumination Decline
Javier Rodríguez-Puigvert, Víctor M. Batlle, J. M. M. Montiel +4
Single-view depth estimation can be remarkably effective if there is enough ground-truth depth data for supervised training. However, there are scenarios, especially in medicine in…
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…