Track2Map jointly optimizes camera poses and deformable 3D Gaussian maps online from surgical stereo video via track-anchored deformation and motion-gated pose updates.
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Track2Map: Online Deformable SLAM with Motion-Aware Pose Optimization in Robotic Surgery
Track2Map jointly optimizes camera poses and deformable 3D Gaussian maps online from surgical stereo video via track-anchored deformation and motion-gated pose updates.