ColonMapper: topological mapping and localization for colonoscopy
Javier Morlana,Juan D. Tardós,J. M. M. Montiel,Javier Morlana,Juan D. Tardós,J. M. M. Montiel
We propose a topological mapping and localization system able to operate on real human colonoscopies, despite significant shape and illumination changes. The map is a graph where each node codes a colon location by a set of real images, while edges represent traversability between nodes. For close-in-time images, where scene changes are minor, place recognition can be successfully managed with the...
