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Reliable and real-time 3D reconstruction and localization functionality is acrucial prerequisite for the navigation of actively controlled capsuleendoscopic robots as an emerging, minimally invasive diagnostic and therapeutictechnology for use in the gastrointestinal (GI) tract. In this study, wepropose a fully dense, non-rigidly deformable, strictly real-time,intraoperative map fusion approach for actively controlled endoscopic capsulerobot applications which combines magnetic and vision-based localization, withnon-rigid deformations based frame-to-model map fusion. The performance of theproposed method is demonstrated using four different ex-vivo porcine stomachmodels. Across different trajectories of varying speed and complexity, and fourdifferent endoscopic cameras, the root mean square surface reconstructionerrors 1.58 to 2.17 cm.

Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots