论文标题
在腹腔镜手术中使用和基准测试的视觉惯性定位受限
Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery
论文作者
论文摘要
我们提出了一种新的方法，以解决受约束摄像机运动的视觉惯性定位问题。我们使用不同方式的残差来共同优化全球成本函数。从IMU测量值，立体特征点以及SE（3）可能的解决方案的约束中出现残差。在频繁进行动态干扰的设置中，残差降低了问题的复杂性并使本地化可行。我们在合适的医疗用例中验证方法的优势，并生产一个数据集，该数据集在腹部捕获微创手术。我们的新型临床数据集MITI与最新的评估数据集相当，包含校准和同步，可在https://mediatum.ub.ub.tum.de/1621941上找到。
We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU measurements, stereoscopic feature points, and constraints on possible solutions in SE(3). In settings where dynamic disturbances are frequent, the residuals reduce the complexity of the problem and make localization feasible. We verify the advantages of our method in a suitable medical use case and produce a dataset capturing a minimally invasive surgery in the abdomen. Our novel clinical dataset MITI is comparable to state-of-the-art evaluation datasets, contains calibration and synchronization and is available at https://mediatum.ub.tum.de/1621941.
