BDIS-SLAM: a lightweight CPU-based dense stereo SLAM for surgery

ConclusionThe proposed BDIS-SLAM is a lightweight stereo dense SLAM system for MIS. It achieves 30  Hz on a modern single-core CPU in typical endoscopy/colonoscopy scenarios (image size around\(640 \times 480\)). BDIS-SLAM provides a low-cost solution for dense mapping in MIS and has the potential to be applied in surgical robots and AR systems. Code is available athttps://github.com/JingweiSong/BDIS-SLAM.
Source: International Journal of Computer Assisted Radiology and Surgery - Category: Intensive Care Source Type: research