Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly real-time, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm.Comment: submitted to IROS 201

Signal reconstruction via operator guiding

Signal reconstruction from a sample using an orthogonal projector onto a guiding subspace is theoretically well justified, but may be difficult to practically implement. We propose more general guiding operators, which increase signal components in the guiding subspace relative to those in a complementary subspace, e.g., iterative low-pass edge-preserving filters for super-resolution of images. Two examples of super-resolution illustrate our technology: a no-flash RGB photo guided using a high resolution flash RGB photo, and a depth image guided using a high resolution RGB photo.Comment: 5 pages, 8 figures. To appear in Proceedings of SampTA 2017: Sampling Theory and Applications, 12th International Conference, July 3-7, 2017, Tallinn, Estoni