Tracking monocular camera pose and deformation for SLAM inside the human body
Juan J. Gómez Rodríguez,J.M.M. Montiel,Juan D. Tardós,Juan J. Gómez Rodríguez,J.M.M. Montiel,Juan D. Tardós
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to simultaneously track the camera pose and the 3D scene deformation, without any assumption about environment topology or shape. The method uses an illumination-invarian...
