Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments
Mitchell J. Fulton,J. Micah Prendergast,Emily R. DiTommaso,Mark E. Rentschler,Mitchell J. Fulton,J. Micah Prendergast,Emily R. DiTommaso,Mark E. Rentschler
This paper presents a new open-source dataset with ground truth position in a simulated colon environment to promote development of real-time feedback systems for physicians performing colonoscopies. Four systems (DSO, LSD-SLAM, SfMLearner, ORB-SLAM2) are tested on this dataset and their failures are analyzed. A data collection platform was fabricated and used to take the dataset in a colonoscopy ...
