{"id":"https://openalex.org/W4391423066","doi":"https://doi.org/10.1109/icar58858.2023.10406450","title":"Semantic Monocular Surgical SLAM: Intra-Operative 3D Reconstruction and Pre-Operative Registration in Dynamic Environments","display_name":"Semantic Monocular Surgical SLAM: Intra-Operative 3D Reconstruction and Pre-Operative Registration in Dynamic Environments","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4391423066","doi":"https://doi.org/10.1109/icar58858.2023.10406450"},"language":"en","primary_location":{"id":"doi:10.1109/icar58858.2023.10406450","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icar58858.2023.10406450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071794111","display_name":"Andrea Roberti","orcid":"https://orcid.org/0000-0002-7424-3334"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Roberti","raw_affiliation_strings":["University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082596393","display_name":"Daniele Meli","orcid":"https://orcid.org/0000-0002-3162-388X"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Meli","raw_affiliation_strings":["University of Verona,Department of Computer Science,Verona,Italy","Department of Computer Science, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Department of Computer Science,Verona,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020987288","display_name":"Giacomo De Rossi","orcid":"https://orcid.org/0000-0002-2505-3809"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giacomo De Rossi","raw_affiliation_strings":["University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001597507","display_name":"Riccardo Muradore","orcid":"https://orcid.org/0000-0002-0287-6896"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Muradore","raw_affiliation_strings":["University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065107543","display_name":"Paolo Fiorini","orcid":"https://orcid.org/0000-0002-0711-8605"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Fiorini","raw_affiliation_strings":["University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Department of Engineering for Innovation Medicine,Verona,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5071794111"],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09841244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"486","last_page":"491"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7852948904037476},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7820744514465332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7359049320220947},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5996373891830444},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5772668123245239},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.5302303433418274},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5166230797767639},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4906286299228668},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4796905219554901},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.4680473506450653},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.464600533246994},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4270317256450653},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4241170883178711},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.13569733500480652},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11539602279663086},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11259889602661133},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08745399117469788}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7852948904037476},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7820744514465332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7359049320220947},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5996373891830444},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5772668123245239},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.5302303433418274},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5166230797767639},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4906286299228668},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4796905219554901},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.4680473506450653},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.464600533246994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4270317256450653},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4241170883178711},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.13569733500480652},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11539602279663086},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11259889602661133},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08745399117469788},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar58858.2023.10406450","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icar58858.2023.10406450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2154023133","display_name":null,"funder_award_id":"742671","funder_id":"https://openalex.org/F4320338335","funder_display_name":"H2020 European Research Council"}],"funders":[{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1989625560","https://openalex.org/W2065883524","https://openalex.org/W2535547924","https://openalex.org/W2598070036","https://openalex.org/W2744895060","https://openalex.org/W2787091153","https://openalex.org/W2808571300","https://openalex.org/W2948121046","https://openalex.org/W2956100828","https://openalex.org/W2962914239","https://openalex.org/W2963073614","https://openalex.org/W2968998169","https://openalex.org/W3003920406","https://openalex.org/W3016521739","https://openalex.org/W3042353022","https://openalex.org/W3100943374","https://openalex.org/W3102327032","https://openalex.org/W3104699017","https://openalex.org/W3106458387","https://openalex.org/W3119107802","https://openalex.org/W3130448017","https://openalex.org/W3187115527","https://openalex.org/W3196343109","https://openalex.org/W3198822284","https://openalex.org/W4200261122","https://openalex.org/W4210261753","https://openalex.org/W4221005060","https://openalex.org/W4281401846","https://openalex.org/W4296053300","https://openalex.org/W4310858512"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W2980723633","https://openalex.org/W2368534456","https://openalex.org/W2980582925","https://openalex.org/W2922069956","https://openalex.org/W4391047701","https://openalex.org/W3092618660"],"abstract_inverted_index":{"In":[0,107],"recent":[1],"years,":[2],"the":[3,8,21,30,34,75,98,104,135,143,149,167,179,189,197],"feasibility":[4],"of":[5,10,20,32,77,103,137,191,199],"autonomy":[6],"in":[7,38,74,88,95],"field":[9,76],"Robotic-Assisted":[11],"Minimally":[12],"Invasive":[13],"Surgery":[14],"(RAMIS)":[15],"has":[16],"been":[17],"investigated.":[18],"One":[19],"most":[22],"important":[23,72],"requirements":[24],"for":[25,51,163],"such":[26],"a":[27,48,89,112],"system":[28],"is":[29,47,61,93,156],"capability":[31],"reconstructing":[33],"patient's":[35],"3D":[36,138],"anatomy":[37],"real-time":[39],"and":[40,54,66,80,100,120,133,182,193,201],"registering":[41],"it":[42],"with":[43,97,148,166,178],"pre-operative":[44],"data.":[45],"This":[46],"crucial":[49],"step":[50],"surgical":[52,105],"guidance":[53],"augmented":[55],"reality":[56],"applications.":[57],"A":[58],"common":[59],"solution":[60],"to":[62,86,115,128,187],"use":[63],"Simultaneous":[64],"Localization":[65],"Mapping":[67],"(SLAM)":[68],"which":[69,92],"plays":[70],"an":[71,159,184],"role":[73],"computer":[78],"vision":[79],"robotics.":[81],"Conventional":[82],"SLAM":[83],"algorithms":[84],"assume":[85],"operate":[87],"static":[90],"environment,":[91],"clearly":[94],"contrast":[96],"non-rigid":[99],"ever-changing":[101],"nature":[102],"scene.":[106],"this":[108],"paper,":[109],"we":[110,141],"propose":[111],"novel":[113],"approach":[114,155],"monocular":[116],"SLAM,":[117],"combining":[118],"geometric":[119,194],"semantic":[121,192],"segmentation":[122,195],"based":[123],"on":[124,158,196],"prior":[125],"intervention-specific":[126],"knowledge":[127],"automatically":[129],"isolate":[130],"dynamic":[131],"objects":[132],"increase":[134],"accuracy":[136],"reconstruction.":[139],"Then,":[140],"register":[142],"sparse":[144],"reconstructed":[145],"point":[146],"cloud":[147],"preoperative":[150],"anatomical":[151],"model.":[152],"The":[153],"proposed":[154],"tested":[157],"anatomically":[160],"realistic":[161],"phantom":[162],"partial":[164],"nephrectomy":[165],"da":[168],"Vinci":[169],"Research":[170],"Kit":[171],"(dVRK)":[172],"endoscope.":[173],"We":[174],"compare":[175],"our":[176],"methodology":[177],"state-of-the-art":[180],"ORB-SLAM2":[181],"perform":[183],"ablation":[185],"study":[186],"assess":[188],"impact":[190],"quality":[198],"reconstruction":[200],"registration.":[202]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
