{"id":"https://openalex.org/W4313137269","doi":"https://doi.org/10.1109/iros47612.2022.9981203","title":"Tracking monocular camera pose and deformation for SLAM inside the human body","display_name":"Tracking monocular camera pose and deformation for SLAM inside the human body","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313137269","doi":"https://doi.org/10.1109/iros47612.2022.9981203"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981203","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5049303130","display_name":"Juan J. G\u00f3mez Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1201-8692"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Juan J. G\u00f3mez Rodr\u00edguez","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza,Zaragoza,Spain,50018"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza,Zaragoza,Spain,50018","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072782079","display_name":"J. M. M. Montiel","orcid":"https://orcid.org/0000-0002-3627-7306"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.M.M. Montiel","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza,Zaragoza,Spain,50018"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza,Zaragoza,Spain,50018","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030733231","display_name":"Juan D. Tard\u00f3s","orcid":"https://orcid.org/0000-0002-4518-5876"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan D. Tard\u00f3s","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza,Zaragoza,Spain,50018"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza,Zaragoza,Spain,50018","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049303130"],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":4.1662,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.9667825,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5278","last_page":"5285"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.998199999332428,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8374643921852112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8342940807342529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6693838238716125},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5811485052108765},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.5776587128639221},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5644818544387817},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.4956456422805786},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4270637035369873},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21207502484321594},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20805570483207703}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8374643921852112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8342940807342529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6693838238716125},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5811485052108765},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.5776587128639221},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5644818544387817},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.4956456422805786},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4270637035369873},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21207502484321594},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20805570483207703},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981203","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1938204631","https://openalex.org/W2012210378","https://openalex.org/W2049372418","https://openalex.org/W2130103520","https://openalex.org/W2133665775","https://openalex.org/W2325034626","https://openalex.org/W2474281075","https://openalex.org/W2525786140","https://openalex.org/W2564632156","https://openalex.org/W2582998992","https://openalex.org/W2744895060","https://openalex.org/W2799135238","https://openalex.org/W2937713253","https://openalex.org/W3008290319","https://openalex.org/W3043971245","https://openalex.org/W3088230178","https://openalex.org/W3099913005","https://openalex.org/W3104699017","https://openalex.org/W3127501898","https://openalex.org/W3152803807","https://openalex.org/W3198930071","https://openalex.org/W3203177522","https://openalex.org/W3205069315","https://openalex.org/W4387309474","https://openalex.org/W6677548441","https://openalex.org/W6729999887","https://openalex.org/W6765730837","https://openalex.org/W6810612144"],"related_works":["https://openalex.org/W1831182967","https://openalex.org/W2981356822","https://openalex.org/W1591473239","https://openalex.org/W2367287434","https://openalex.org/W2899563768","https://openalex.org/W2162931489","https://openalex.org/W3171977220","https://openalex.org/W2203303891","https://openalex.org/W4391053327","https://openalex.org/W3215451557"],"abstract_inverted_index":{"Monocular":[0],"SLAM":[1],"in":[2,16,81,90,101,136],"deformable":[3],"scenes":[4,92],"will":[5],"open":[6],"the":[7,36,40,85,109,117],"way":[8],"to":[9,33,59,113],"multiple":[10],"medical":[11],"applications":[12],"like":[13],"computer-assisted":[14],"navigation":[15],"endoscopy,":[17],"automatic":[18],"drug":[19],"delivery":[20],"or":[21,50],"autonomous":[22],"robotic":[23],"surgery.":[24],"In":[25],"this":[26],"paper":[27],"we":[28,143],"propose":[29],"a":[30],"novel":[31],"method":[32,53,58,110],"simultaneously":[34],"track":[35,60],"camera":[37,65],"pose":[38],"and":[39,63,67,74,88,125],"3D":[41],"scene":[42],"deformation,":[43],"without":[44,147],"any":[45,149],"assumption":[46],"about":[47],"environment":[48],"topology":[49],"shape.":[51],"The":[52],"uses":[54],"an":[55],"illumination-invariant":[56],"photometric":[57],"image":[61],"features":[62],"estimates":[64],"motion":[66],"deformation":[68],"combining":[69],"reprojection":[70],"error":[71],"with":[72,116,132],"spatial":[73],"temporal":[75],"regularization":[76],"of":[77,96,119],"deformations.":[78],"Our":[79,98],"results":[80,100],"simulated":[82],"colonoscopies":[83,103],"show":[84,107],"method's":[86],"accuracy":[87],"robustness":[89],"complex":[91],"under":[93],"increasing":[94],"levels":[95],"deformation.":[97],"qualitative":[99],"human":[102],"from":[104,139],"Endomapper":[105],"dataset":[106,141],"that":[108],"is":[111],"able":[112],"successfully":[114],"cope":[115],"challenges":[118],"real":[120],"endoscopies:":[121],"deformations,":[122],"low":[123],"texture":[124],"strong":[126],"illumination":[127],"changes.":[128],"We":[129],"also":[130],"compare":[131],"previous":[133],"tracking":[134],"methods":[135],"simpler":[137],"scenarios":[138],"Hamlyn":[140],"where":[142],"obtain":[144],"competitive":[145],"performance,":[146],"needing":[148],"topological":[150],"assumption.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}