A Model-based Simultaneous Localization and Mapping Approach for Deformable Bodies

This paper presents a concept of a model-based localization algorithm for deformable systems. The proposed approach considers a real-time co-simulation to predict deformations. The simulated deformations are incorporated in a state-of-the-art simultaneous localization and mapping (SLAM) algorithm to enable precise localization in an endoscopic, non-rigid environment. To demonstrate the potential of the proposed model-based SLAM algorithm, simulation results of a synthetic environment are discussed. Therefore, an ideal model and accurate knowledge of the acting forces are assumed. This work is intended as proof of concept to provide fundamental ideas and the framework to apply a model-based localization algorithm in a real-world endoscopic surgery environment. The code of the implemented framework is publicly accessible
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