no code implementations • ICCV 2023 • Javier Rodríguez-Puigvert, Víctor M. Batlle, J. M. M. Montiel, Ruben Martinez-Cantin, Pascal Fua, Juan D. Tardós, Javier Civera
However, there are scenarios, especially in medicine in the case of endoscopies, where such data cannot be obtained.
no code implementations • 9 May 2023 • Javier Morlana, Juan D. Tardós, J. M. M. Montiel
We propose a topological mapping and localization system able to operate on real human colonoscopies, despite significant shape and illumination changes.
2 code implementations • 19 Apr 2022 • Victor M. Batlle, J. M. M. Montiel, Juan D. Tardos
We validate our method on simulated colonoscopies, obtaining a mean error of 7% on depth estimation, which is below 3 mm on average.
1 code implementation • 13 Apr 2022 • Javier Morlana, J. M. M. Montiel
We propose a compact pipeline to unify all the steps of Visual Localization: image retrieval, candidate re-ranking and initial pose estimation, and camera pose refinement.
no code implementations • 15 Sep 2021 • Jose Lamarca, Juan J. Gomez Rodriguez, Juan D. Tardos, J. M. M. Montiel
Current approaches use a template-based deformable tracking to recover the camera pose and the deformation of the map.
1 code implementation • 30 Mar 2021 • David Recasens, José Lamarca, José M. Fácil, J. M. M. Montiel, Javier Civera
Estimating a scene reconstruction and the camera motion from in-body videos is challenging due to several factors, e. g. the deformation of in-body cavities or the lack of texture.
no code implementations • 30 Aug 2019 • Richard Elvira, Juan D. Tardós, J. M. M. Montiel
We also show the robustness and capability of our system to deal with dynamic scenes, quantitatively in the EuRoC datasets and qualitatively in a densely populated corridor where camera occlusions and tracking losses are frequent.
no code implementations • 28 Aug 2019 • Carlos Campos, J. M. M. Montiel, Juan D. Tardós
Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases.
Robotics
1 code implementation • 20 Aug 2019 • Jose Lamarca, Shaifali Parashar, Adrien Bartoli, J. M. M. Montiel
In our experiments, DefSLAM processes close-up sequences of deforming scenes, both in a laboratory controlled experiment and in medical endoscopy sequences, producing accurate 3D models of the scene with respect to the moving camera.
1 code implementation • 13 Apr 2019 • Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel
Photometric bundle adjustment, PBA, accurately estimates geometry from video.
no code implementations • 25 May 2017 • Nader Mahmoud, Alexandre Hostettler, Toby Collins, Luc Soler, Christophe Doignon, J. M. M. Montiel
In this paper, a quasi dense reconstruction algorithm of surgical scene is proposed.
no code implementations • 29 Aug 2016 • Nader Mahmoud, Iñigo Cirauqui, Alexandre Hostettler, Christophe Doignon, Luc Soler, Jacques Marescaux, J. M. M. Montiel
It is our first contribution to exploit ORBSLAM, one of the best performing monocular SLAM algorithms, to estimate both of the endoscope location, and 3D structure of the surgical scene.
no code implementations • 9 Apr 2015 • Dorian Gálvez-López, Marta Salas, Juan D. Tardós, J. M. M. Montiel
We present a real-time object-based SLAM system that leverages the largest object database to date.
2 code implementations • 3 Feb 2015 • Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos
This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments.