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arXiv 2018年

作者： Turan, mehmet Ornek, Evin Pinar Nail, Ibrahimli Giracoglu, Can Almalioglu, Yasin yanik, mehmet fatih Sitti, Metin Mehmet Turan Is with Physical Intelligence Department Max Planck Institute for Intelligent Systems Germany Can Giracoglu Is with Informatics Faculty Evin Pinar Ornek Technical University of Muenich Nail Ibrahimli Germany Yasin Almalioglu Is with Computer Science Department University of Oxford Oxford United Kingdom M. Fatih Yanik Is with Department of Information Technology and Electrical Engineering Zurich Switzerland Metin Sitti Is with Physical Intelligence Department Max Planck Institute for Intelligent Systems Germany

In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide more intuitive disease detection, targeted drug delivery and biopsy-like operations in the gastrointestinal(GI) tract. In this study, we introduce a fully unsupervised, realtime odometry and depth learner for monocular endoscopic capsule robots. We establish the supervision by warping view sequences and assigning the re-projection minimization to the loss function, which we adopt in multi-view pose estimation and single-view depth estimation network. Detailed quantitative and qualit ENGLative analyses of the proposed framework performed on non-rigidly deformable ex-vivo porcine stomach datasets proves the effectiveness of the method in terms of motion estimation and depth recovery. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion estimation

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Dynamic photon storage

引用

Nature Physics 2007年第6期3卷 372-374页

作者： mehmet fatih yanik Shanhui Fan Mehmet Fatih Yanik is in the Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Ave. Cambridge Massachusetts 02139 USA. yanik@mit.edu Shanhui Fan is in the Ginzton Laboratory Stanford University Stanford Calofornia 94305 USA.

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