SAGE: SLAM with Appearance and Geometry Prior for Endoscopy.
Xingtong LiuZhaoshuo LiMasaru IshiiGregory D. HagerRussell H. TaylorMathias UnberathPublished in: CoRR (2022)
Keyphrases
- geometric information
- mobile robot
- recently developed
- appearance model
- prior knowledge
- three dimensional
- particle filter
- indoor environments
- video images
- object shape
- simultaneous localization and mapping
- scene geometry
- appearance manifolds
- loop closure
- object geometry
- appearance cues
- geometric features
- maximum a posteriori
- markov random field