2017
DOI: 10.1007/978-3-319-54057-3_7
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ORBSLAM-Based Endoscope Tracking and 3D Reconstruction

Abstract: We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for developing surgical navigation and augmented reality applications. The main benefit of this approach is the lack of extra tracking elements which can disturb the surgeon performance in the clinical routine. It is our first contribution to exploit ORBSLAM, one of the best performi… Show more

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Cited by 79 publications
(45 citation statements)
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“…The open source software ORB-SLAM is adopted executed on desktop PC with Intel Core i7-4770K CPU @ 3.5 GHz and 8GB RAM. We follow [4] to tune the parameters and structures. The average tracking time is 15ms with 640x480 image resolution and 12 ms with 720x288 image resolution.…”
Section: Gpu Implementation and Computational Costmentioning
confidence: 99%
“…The open source software ORB-SLAM is adopted executed on desktop PC with Intel Core i7-4770K CPU @ 3.5 GHz and 8GB RAM. We follow [4] to tune the parameters and structures. The average tracking time is 15ms with 640x480 image resolution and 12 ms with 720x288 image resolution.…”
Section: Gpu Implementation and Computational Costmentioning
confidence: 99%
“…This paper claims to achieve good results but since the results were achieved in a very controlled environment with rigid and well textured surface and perfect lighting without reflections, the results are not comparable for challenge real scenes. ORB-SLAM-based Endoscope Tracking and 3D Reconstruction [24] is another approach addressing the issue of endoscopic localization.…”
Section: Visual Slam Structure and Surveymentioning
confidence: 99%
“…[26] adapted parallel tracking and mapping techniques to a stereo-endoscope to obtain reconstructed 3D maps that were denser when compared to monoscopic camera methods. [27] has applied Fig. 2: Demonstration of the active endoscopic capsule robot operation using MASCE (Magnetically actuated soft capsule endoscope) designed for disease detection, drug delivery and biopsy-like operations in the upper GI-tract.…”
Section: Introductionmentioning
confidence: 99%