MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Instant Scene Modeler for Crime Scene Reconstruction
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Non-rigid Reconstruction of the Beating Heart Surface for Minimally Invasive Cardiac Surgery
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Optical Biopsy Mapping for Minimally Invasive Cancer Screening
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
A stereoscopic fibroscope for camera motion and 3D depth recovery during minimally invasive surgery
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
3D reconstruction of internal organ surfaces for minimal invasive surgery
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Motion compensated SLAM for image guided surgery
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
Real-Time methods for long-term tissue feature tracking in endoscopic scenes
IPCAI'12 Proceedings of the Third international conference on Information Processing in Computer-Assisted Interventions
2D/3D registration of a preoperative model with endoscopic video using colour-consistency
AE-CAI'11 Proceedings of the 6th international conference on Augmented Environments for Computer-Assisted Interventions
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Minimally Invasive Surgery (MIS) has recognized benefits of reduced patient trauma and recovery time. In practice, MIS procedures present a number of challenges due to the loss of 3D vision and the narrow field-of-view provided by the camera. The restricted vision can make navigation and localization within the human body a challenging task. This paper presents a robust technique for building a repeatable long term 3D map of the scene whilst recovering the camera movement based on Simultaneous Localization and Mapping (SLAM). A sequential vision only approach is adopted which provides 6 DOF camera movement that exploits the available textured surfaces and reduces reliance on strong planar structures required for range finders. The method has been validated with a simulated data set using real MIS textures, as well as in vivo MIS video sequences. The results indicate the strength of the proposed algorithm under the complex reflectance properties of the scene, and the potential for real-time application for integrating with the existing MIS hardware.