Magnetic-visual sensor fusion-based dense 3d reconstruction and localization for endoscopic capsule robots

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Magnetic-visual sensor fusion-based dense 3d reconstruction and localization for endoscopic capsule robots

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Turan, Mehmet / Almalioglu, Yasin / Ornek, Evin Pinar / Araujo, Helder / Yanik, Mehmet Fatih / Sitti, Metin

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly real-time, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm.

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Titel :

Magnetic-visual sensor fusion-based dense 3d reconstruction and localization for endoscopic capsule robots

Beteiligte:

Turan, Mehmet (Autor:in) / Almalioglu, Yasin (Autor:in) / Ornek, Evin Pinar (Autor:in) / Araujo, Helder (Autor:in) / Yanik, Mehmet Fatih (Autor:in) / Sitti, Metin (Autor:in)

Erscheinungsdatum :

2018-01-01

Anmerkungen:

doi:10.5167/uzh-168597
Turan, Mehmet; Almalioglu, Yasin; Ornek, Evin Pinar; Araujo, Helder; Yanik, Mehmet Fatih; Sitti, Metin (2018). Magnetic-visual sensor fusion-based dense 3d reconstruction and localization for endoscopic capsule robots. arXiv 1803.01048, Institute of Neuroinformatics.

DOI :

https://doi.org/10.5167/uzh-168597

Medientyp :

Paper

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Institute of Neuroinformatics , 570 Life sciences , biology

Klassifikation :

DDC: