000144975 001__ 144975 000144975 005__ 20241220120718.0 000144975 0247_ $$2doi$$a10.1109/TRO.2024.3422004 000144975 0248_ $$2sideral$$a139817 000144975 037__ $$aART-2024-139817 000144975 041__ $$aeng 000144975 100__ $$aGómez Rodríguez, Juan J.$$uUniversidad de Zaragoza 000144975 245__ $$aNR-SLAM: Non-Rigid Monocular SLAM 000144975 260__ $$c2024 000144975 5203_ $$aIn this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The former enables our system to represent the dynamics of the deforming environment as the camera explores, while the later allows us to model general deformations in a simple way. The presented system is able to automatically initialize and extend a map modeled by a sparse point cloud in deforming environments, that is refined with a sliding-window Deformable Bundle Adjustment. This map serves as base for the estimation of the camera motion and deformation and enables us to represent arbitrary surface topologies, overcoming the limitations of previous methods. To assess the performance of our system in challenging deforming scenarios, we evaluate it in several representative medical datasets. In our experiments, NR-SLAM outperforms previous deformable SLAM systems, achieving millimeter reconstruction accuracy and bringing automated medical intervention closer. For the benefit of the community, we make the source code public. 000144975 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T45-17R$$9info:eu-repo/grantAgreement/EC/H2020/863146/EU/EndoMapper: Real-time mapping from endoscopic video/EndoMapper$$9This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 863146-EndoMapper$$9info:eu-repo/grantAgreement/ES/MICINN/PID2021-127685NB-I00 000144975 540__ $$9info:eu-repo/semantics/closedAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000144975 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000144975 700__ $$0(orcid)0000-0002-3627-7306$$aMartínez Montiel, José M.$$uUniversidad de Zaragoza 000144975 700__ $$0(orcid)0000-0002-4518-5876$$aTardós, Juan D.$$uUniversidad de Zaragoza 000144975 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000144975 773__ $$g40 (2024), 4252-4264$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098 000144975 8564_ $$s2780051$$uhttps://zaguan.unizar.es/record/144975/files/texto_completo.pdf$$yVersión publicada 000144975 8564_ $$s3210071$$uhttps://zaguan.unizar.es/record/144975/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000144975 909CO $$ooai:zaguan.unizar.es:144975$$particulos$$pdriver 000144975 951__ $$a2024-12-20-12:05:36 000144975 980__ $$aARTICLE