MIS-SLAM: Real-Time Large-Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing
MIS-SLAM: Real-Time Large-Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing
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DOI：
10.1109/lra.2018.2856519
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Dissanayake, Gamini
中科院分区：
文献类型：
--
作者：
Song, Jingwei;Wang, Jun;Dissanayake, Gamini
实时同时定位和密集映射对于为外科医生甚至手术机器人提供虚拟现实和增强现实非常有帮助。本文提出了MIS-SLAM：一个基于异构计算的、充分利用CPU和GPU的、完整的实时大规模密集可变形SLAM系统。空闲CPU用于执行ORB-SLAM以提供鲁棒的全局姿态。采用了CPU和GPU模块集成的策略。解决了以往工作中提出的瞄准镜快速运动和图像模糊导致瞄准镜跟踪失败的关键问题。得益于改进的定位，MIS-SLAM可以真实的实时地实现大范围定位和密集映射。它对当前模型进行变换和变形，并在保持生动纹理的同时增量融合新的观察结果。在以视频形式呈现的公开数据集上进行的体内实验证明了MIS-SLAM用于潜在临床目的的可行性和实用性。
Real-time simultaneous localization and dense mapping is very helpful for providing virtual reality and augmented reality for surgeons or even surgical robots. In this letter, we propose MIS-SLAM: A complete real-time large-scale dense deformable SLAM system with stereoscope in minimal invasive surgery (MIS) based on heterogeneous computing by making full use of CPU and GPU. Idled CPU is used to perform ORB-SLAM for providing robust global pose. Strategies are taken to integrate modules from CPU and GPU. We solved the key problem raised in the previous work, that is, fast movement of scope and blurry images make the scope tracking fail. Benefiting from improved localization, MIS-SLAM can achieve large-scale scope localizing and dense mapping in real time. It transforms and deforms current model and incrementally fuses new observation while keeping vivid texture. In-vivo experiments conducted on publicly available datasets presented in the form of videos demonstrate the feasibility and practicality of MIS-SLAM for potential clinical purpose.