Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most
research focuses on the automatic detection of polyps or other pathologies, but localization …

We propose a topological mapping and localization system able to operate on real human
colonoscopies, despite significant shape and illumination changes. The map is a graph …

We introduce ColonSLAM, a system that combines classical multiple-map metric SLAM with
deep features and topological priors to create topological maps of the whole colon. The …