OneSLAM to map them all: a generalized approach to SLAM for monocular endoscopic imaging based on tracking any point.
Timo TeufelHongchao ShuRoger D. Soberanis-MukulJan Emily MangulabnanManish SahuS. Swaroop VedulaMasaru IshiiGregory D. HagerRussell H. TaylorMathias UnberathPublished in: Int. J. Comput. Assist. Radiol. Surg. (2024)
Keyphrases
- visual slam
- loop closing
- particle filter
- simultaneous localization and mapping
- monocular slam
- model based tracking
- visual odometry
- real time
- mobile robot
- dynamic environments
- map building
- camera tracking
- monocular camera
- pose recovery
- visual tracking
- monocular images
- pose estimation
- data association
- human body tracking
- object tracking
- particle filtering
- image sequences
- kalman filter
- camera motion
- robot navigation
- optical flow
- imaging systems
- mobile robotics
- articulated human motion
- loop closure
- computer vision
- minimally invasive surgery
- indoor environments
- appearance model
- cardiac motion
- position information
- topological map
- error accumulation
- autonomous navigation
- minimally invasive
- motion segmentation
- medical imaging
- augmented reality
- vehicle trajectory
- high resolution