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.
In: Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
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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.