{"id":"https://openalex.org/W2910340989","doi":"https://doi.org/10.1109/iros.2018.8593501","title":"ArthroSLAM: Multi-Sensor Robust Visual Localization for Minimally Invasive Orthopedic Surgery","display_name":"ArthroSLAM: Multi-Sensor Robust Visual Localization for Minimally Invasive Orthopedic Surgery","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910340989","doi":"https://doi.org/10.1109/iros.2018.8593501","mag":"2910340989"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/124134/1/2018.07.21_ArthroSLAM_Marmol%20et%20al.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/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"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":["ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"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":"Peter Corke","raw_affiliation_strings":["ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"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/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"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":["ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.5352,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97830998,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3882","last_page":"3889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7171316146850586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7101449966430664},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6625550985336304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6558370590209961},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5351083874702454},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4905964434146881},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4193086624145508},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08230507373809814}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7171316146850586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7101449966430664},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6625550985336304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6558370590209961},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5351083874702454},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4905964434146881},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4193086624145508},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08230507373809814},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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":2,"locations":[{"id":"doi:10.1109/iros.2018.8593501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.qut.edu.au:124134","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/124134/1/2018.07.21_ArthroSLAM_Marmol%20et%20al.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":"Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:124134","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/124134/1/2018.07.21_ArthroSLAM_Marmol%20et%20al.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":"Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G4327185696","display_name":null,"funder_award_id":"CE140100016","funder_id":"https://openalex.org/F4320331724","funder_display_name":"Australian Centre for Robotic Vision"}],"funders":[{"id":"https://openalex.org/F4320331724","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2910340989.pdf","grobid_xml":"https://content.openalex.org/works/W2910340989.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1967566933","https://openalex.org/W1992989752","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2049372418","https://openalex.org/W2110371667","https://openalex.org/W2134046505","https://openalex.org/W2161098086","https://openalex.org/W2165584048","https://openalex.org/W2168282852","https://openalex.org/W2243521877","https://openalex.org/W2461937780","https://openalex.org/W2503967141","https://openalex.org/W2523940337","https://openalex.org/W2583181736","https://openalex.org/W2623549307","https://openalex.org/W2735048916","https://openalex.org/W2911395848","https://openalex.org/W3099763198","https://openalex.org/W3103648783","https://openalex.org/W3124420883","https://openalex.org/W6676442313"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968","https://openalex.org/W2583798032"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1],"arthroscopic":[2],"surgery":[3],"is":[4,36,157,224],"a":[5,71,90,116,147,151,175,208,225],"very":[6],"challenging":[7,166],"procedure":[8],"that":[9,222],"requires":[10],"the":[11,26,54,68,98,102,113,120,130,161,195,198,204,229,235],"manipulation":[12],"of":[13,37,82,115,180,197,203,207,234],"instruments":[14],"in":[15,122,146],"limited":[16],"intraarticular":[17],"space":[18],"using":[19,56],"distorted":[20],"and":[21,29,65,75,84,112,140,170,184],"sometimes":[22],"uninformative":[23],"images.":[24],"Localizing":[25],"arthroscope":[27,88,110],"reliably":[28,85,169],"at":[30,171],"all":[31,172],"times":[32,173],"w.r.t.":[33],"surrounding":[34],"tissue":[35],"fundamental":[38],"importance":[39],"to":[40,44,52,143,159,182],"prevent":[41],"unintended":[42],"injury":[43],"patients.":[45],"However,":[46],"even":[47],"highly-trained":[48],"surgeons":[49],"can":[50],"struggle":[51],"localize":[53],"arthro-scope":[55],"poor":[57],"image":[58],"feedback.":[59],"In":[60],"this":[61],"paper,":[62],"we":[63,133],"propose":[64],"demonstrate":[66],"for":[67,129,138,228],"first":[69,131],"time":[70],"visual":[72],"Simultaneous":[73],"Localisation":[74],"Mapping":[76],"(SLAM)":[77],"system,":[78],"termed":[79],"ArthroSLAM,":[80],"capable":[81],"robustly":[83],"localizing":[86,168],"an":[87,104,109,123],"inside":[89],"human":[91,152],"knee":[92,154,209],"joint.":[93,155],"The":[94],"proposed":[95],"system":[96],"fuses":[97],"information":[99],"obtained":[100],"from":[101],"arthroscope,":[103],"external":[105],"camera":[106],"mounted":[107],"on":[108],"holder,":[111],"odometry":[114,191],"robotic":[117,230],"arm":[118],"manipulating":[119],"scope,":[121],"Extended":[124],"Kalman":[125],"Filter":[126],"framework.":[127],"Also":[128],"time,":[132],"implement":[134],"five":[135],"alternative":[136,162],"strategies":[137,163],"localization":[139],"compare":[141],"them":[142],"our":[144,213],"method":[145,214],"realistic":[148],"setup":[149],"with":[150,174,189],"cadaver":[153],"ArthroSLAM":[156,223],"shown":[158],"outperform":[160],"under":[164],"various":[165],"conditions,":[167],"mean":[176],"Relative":[177],"Pose":[178],"Error":[179],"up":[181],"1.4mm":[183],"0.7\u00b0.":[185],"Additional":[186],"experiments":[187],"conducted":[188],"degraded":[190],"data":[192],"also":[193],"validate":[194],"robustness":[196],"method.":[199],"An":[200],"initial":[201],"evaluation":[202],"sparse":[205],"map":[206],"section":[210],"computed":[211],"by":[212],"exhibits":[215],"good":[216],"morphological":[217],"agreement.":[218],"All":[219],"results":[220],"suggest":[221],"viable":[226],"component":[227],"orthopedic":[231],"surgical":[232],"assistant":[233],"future.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
