# A Non-Rigid Map Fusion-Based RGB-Depth SLAM Method for Endoscopic Capsule Robots

## TL;DR

This paper introduces a novel RGB-Depth SLAM technique tailored for endoscopic capsule robots, enabling real-time dense 3D mapping of the gastrointestinal tract with non-rigid surface adaptation.

## Contribution

It presents the first visual SLAM method specifically designed for endoscopic capsule robots, incorporating non-rigid map fusion for accurate 3D reconstruction.

## Key findings

- Real-time dense 3D maps of GI tract achieved
- Effective non-rigid surface deformation handling
- Enhanced localization accuracy in endoscopic navigation

## Abstract

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases and pathologies. Since the development of this technology, medical device companies and many groups have made significant progress to turn such passive capsule endoscopes into robotic active capsule endoscopes to achieve almost all functions of current active flexible endoscopes. However, the use of robotic capsule endoscopy still has some challenges. One such challenge is the precise localization of such active devices in 3D world, which is essential for a precise three-dimensional (3D) mapping of the inner organ. A reliable 3D map of the explored inner organ could assist the doctors to make more intuitive and correct diagnosis. In this paper, we propose to our knowledge for the first time in literature a visual simultaneous localization and mapping (SLAM) method specifically developed for endoscopic capsule robots. The proposed RGB-Depth SLAM method is capable of capturing comprehensive dense globally consistent surfel-based maps of the inner organs explored by an endoscopic capsule robot in real time. This is achieved by using dense frame-to-model camera tracking and windowed surfelbased fusion coupled with frequent model refinement through non-rigid surface deformations.