A densification pipeline for multi-map monocular endoscopic VSLAM that aligns NN LightDepth predictions to CudaSIFT sparse submaps via LMedS, reporting 4.15 mm RMS accuracy on the C3VD phantom dataset.
IEEE Robotics and Automation Letters6(4), 7225–7232 (2021)
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3D Densification for Multi-Map Monocular VSLAM in Endoscopy
A densification pipeline for multi-map monocular endoscopic VSLAM that aligns NN LightDepth predictions to CudaSIFT sparse submaps via LMedS, reporting 4.15 mm RMS accuracy on the C3VD phantom dataset.