SAGE: SLAM with Appearance and Geometry Prior for Endoscopy.
Xingtong LiuZhaoshuo LiMasaru IshiiGregory D. HagerRussell H. TaylorMathias UnberathPublished in: ICRA (2022)
Keyphrases
- geometric information
- mobile robot
- prior knowledge
- simultaneous localization and mapping
- scene geometry
- visual slam
- object shape
- photometric properties
- monocular slam
- three dimensional
- realistic rendering
- object geometry
- appearance manifolds
- texture map
- shape from shading
- prior information
- recently developed
- maximum a posteriori
- appearance model
- particle filter
- face recognition