{"id":"https://openalex.org/W2909237156","doi":"https://doi.org/10.1109/lra.2019.2892199","title":"Dense-ArthroSLAM: Dense Intra-Articular 3-D Reconstruction With Robust Localization Prior for Arthroscopy","display_name":"Dense-ArthroSLAM: Dense Intra-Articular 3-D Reconstruction With Robust Localization Prior for Arthroscopy","publication_year":2019,"publication_date":"2019-01-10","ids":{"openalex":"https://openalex.org/W2909237156","doi":"https://doi.org/10.1109/lra.2019.2892199","mag":"2909237156"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2892199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2892199","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/124147/1/2018.12.01_DenseArthroSLAM.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027011856","display_name":"Andres Marmol","orcid":"https://orcid.org/0000-0002-8925-6269"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Andres Marmol","raw_affiliation_strings":["Australian Centre for Robotic Vision, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8925-6269","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010328788","display_name":"Artur Banach","orcid":"https://orcid.org/0000-0003-2622-3301"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Artur Banach","raw_affiliation_strings":["Australian Centre for Robotic Vision, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2622-3301","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thierry Peynot","raw_affiliation_strings":["Australian Centre for Robotic Vision, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8275-6538","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":44.1646,"has_fulltext":true,"cited_by_count":47,"citation_normalized_percentile":{"value":0.99545956,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"4","issue":"2","first_page":"918","last_page":"925"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.72756427526474},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6926442384719849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6547785401344299},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6313282251358032},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.536528468132019},{"id":"https://openalex.org/keywords/arthroscopy","display_name":"Arthroscopy","score":0.5022196769714355},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4424028992652893},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43920066952705383},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.41599664092063904},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2057766616344452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20514923334121704},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15591779351234436},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.10884883999824524},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.09746164083480835},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09218674898147583}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.72756427526474},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6926442384719849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6547785401344299},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6313282251358032},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.536528468132019},{"id":"https://openalex.org/C2779162959","wikidata":"https://www.wikidata.org/wiki/Q708232","display_name":"Arthroscopy","level":2,"score":0.5022196769714355},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4424028992652893},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43920066952705383},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.41599664092063904},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2057766616344452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20514923334121704},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15591779351234436},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.10884883999824524},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.09746164083480835},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09218674898147583},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2892199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2892199","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.qut.edu.au:124147","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/124147/1/2018.12.01_DenseArthroSLAM.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:124147","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/124147/1/2018.12.01_DenseArthroSLAM.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2909237156.pdf","grobid_xml":"https://content.openalex.org/works/W2909237156.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1529711420","https://openalex.org/W1612997784","https://openalex.org/W1991617202","https://openalex.org/W1992642990","https://openalex.org/W2011038175","https://openalex.org/W2110371667","https://openalex.org/W2112174119","https://openalex.org/W2134046505","https://openalex.org/W2167025474","https://openalex.org/W2474281075","https://openalex.org/W2519683295","https://openalex.org/W2623549307","https://openalex.org/W2744895060","https://openalex.org/W2788765199","https://openalex.org/W2883362502","https://openalex.org/W2910340989","https://openalex.org/W2911395848","https://openalex.org/W2962761583","https://openalex.org/W2963155542","https://openalex.org/W3103648783","https://openalex.org/W3104699017","https://openalex.org/W6618872416","https://openalex.org/W6648630804","https://openalex.org/W6758303235","https://openalex.org/W6888765124"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4385556839","https://openalex.org/W4378746257","https://openalex.org/W2734382758","https://openalex.org/W2109481748","https://openalex.org/W2381719890","https://openalex.org/W4206096448","https://openalex.org/W275168305","https://openalex.org/W3012722377","https://openalex.org/W2887679736"],"abstract_inverted_index":{"Arthroscopy":[0],"is":[1,17,76,128],"a":[2,37,63,69,73,88,97,102,170],"minimally":[3],"invasive":[4],"surgery":[5],"that":[6,91],"imposes":[7],"great":[8],"physical":[9],"and":[10,23,46,58,68,101,116,135,145,154,188],"mental":[11],"challenges":[12],"to":[13,19,78,194],"surgeons.":[14],"Extensive":[15],"experience":[16],"required":[18,77],"safely":[20],"navigate":[21],"camera":[22,32,66,152,201],"instruments":[24],"in":[25,130,143,204],"narrow":[26],"spaces":[27],"of":[28,40,80,125,161,175,199],"human":[29],"joints.":[30],"Robust":[31],"localization":[33,57,67],"as":[34,36],"well":[35],"detailed":[38],"reconstruction":[39],"the":[41,93,205],"anatomy":[42],"can":[43],"benefit":[44],"surgeons":[45],"would":[47],"be":[48,79],"essential":[49],"for":[50,107],"future":[51],"robotic":[52],"assistants.":[53],"Our":[54,157],"existing":[55],"simultaneous":[56],"mapping":[59],"(SLAM)":[60],"system":[61,90,127,158],"provides":[62],"robust,":[64],"at-scale":[65],"sparse":[70],"map.":[71],"However,":[72],"denser":[74],"map":[75],"clinical":[81],"relevance.":[82],"In":[83,181],"this":[84],"latter,":[85],"we":[86],"propose":[87],"new":[89],"combines":[92],"robust":[94],"localizer":[95],"with":[96,132,169],"keyframe":[98],"selection":[99],"strategy":[100],"batch":[103],"multiview":[104],"stereo":[105],"(MVS)":[106],"three-dimensional":[108],"reconstruction.":[109],"Tissues":[110],"are":[111],"reconstructed":[112,159],"at":[113],"scale,":[114],"accurately":[115],"densely":[117],"even":[118],"under":[119],"challenging":[120],"arthroscopic":[121],"conditions.":[122],"The":[123],"consistency":[124],"our":[126],"verified":[129],"tests":[131],"synthetic":[133],"noise":[134],"several":[136],"keyframing":[137],"strategies.":[138],"Nine":[139],"experiments":[140],"were":[141],"performed":[142],"phantom":[144],"three":[146],"cadavers":[147],"including":[148],"various":[149],"imaging":[150],"conditions,":[151],"settings,":[153],"scope":[155],"motions.":[156],"surfaces":[160],"more":[162,177,196],"than":[163,178,197],"12":[164],"cm":[165],"<sup":[166],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[168],"root":[171],"mean":[172],"square":[173],"error":[174],"no":[176],"0.5":[179],"mm.":[180],"comparison,":[182],"monocular":[183],"state-of-the-art":[184],"SLAM":[185],"feature-based":[186],"(ORBSLAM)":[187],"direct":[189],"(LSDSLAM)":[190],"methods":[191],"commonly":[192],"failed":[193],"track":[195],"20%":[198],"any":[200],"motion":[202],"and,":[203],"few":[206],"successful":[207],"cases,":[208],"yielded":[209],"much":[210],"larger":[211],"estimation":[212],"errors.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}