SAGE: SLAM with Appearance and Geometry Prior for Endoscopy
Xingtong Liu,Zhaoshuo Li,Masaru Ishii,Gregory D. Hager,Russell H. Taylor,Mathias Unberath,Xingtong Liu,Zhaoshuo Li,Masaru Ishii,Gregory D. Hager,Russell H. Taylor,Mathias Unberath
In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video. To this end, we develop a Simultaneous Localization and Mapping system by combining the learning-based appearance and optimizable geometry priors and factor grap...
