2020
Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments
IROS 2020poster
This paper presents a new open-source dataset with ground truth position in a simulated colon environment to promote development of real-time feedback systems for physicians performing colonoscopies. Four systems (DSO, LSD-SLAM, SfMLearner, ORB-SLAM2) are tested on this dataset and their failures ar…