Visual Simultaneous Localisation and Mapping in Deformable Environments

该项目旨在研究使用图像实时构建可变形环境的三维地图，同时在地图中定位相机的问题。该项目期望在使用视觉传感器的可变形环境中同时定位和绘图领域产生新的知识。预期结果包括对待解决问题的基本传感要求的深入理解，可实现的精度，以及实现可变形环境的精确三维重建的有效算法。该项目的研究成果为微创机器人手术等不同领域提供了显著的好处。

This project aims to investigate the problem of building a three-dimensional map of a deformable environment in real-time using images and at the same time localising the camera within the map. This project expects to generate new knowledge in the area of simultaneous localisation and mapping in deformable environments using visual sensors. Expected outcomes include in-depth understanding of the fundamental sensing requirements for the problem to be solvable, the achievable accuracy, and efficient algorithms for achieving accurate three-dimensional reconstruction of deformable environments. The research outcomes from this project offer significant benefits to diverse areas such as minimally invasive robotic surgery.