MC SLAM is SLAM in a deforming environment. In Minimally Invasive Surgery (MIS) tissue deforms causing traditional SLAM to fail. In this work we learn a deformation model which compensates for tissue motion enabling accurate camera localisation and mapping. This work has applications in Image Guided Surgery, Robotics, navigation, motion compensation and dynamic view expansion.

This work will be presented at the international conference on Medical Image Computing and Computer Assisted Intervention in 2010.

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