This is the CPU level dense stereo SLAM software for minimally invasive surgery.

The program was only tested under a 64-bit Linux distribution. SSE instructions from built-in X86 functions for GNU GCC were used.

Compile:
chmod +x build.sh
./build.sh

The code depends on Eigen3 and OpenCV.

For testing:
chmod +x build.sh ./build.sh ./run_stereo_6.sh ./run_ColonSyn.sh

Citation:
@article{song2022bdis,
title={{BDIS}: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching},
author={Song, Jingwei and Zhu, Qiuchen and Lin, Jianyu and Ghaffari, Maani},
journal={IEEE Transactions on Robotics},
volume={39},
number={2},
pages={1388--1406},
year={2022},
publisher={IEEE}
}
@inproceedings{song2022bayesian,
title={Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgery},
author={Song, Jingwei and Zhu, Qiuchen and Lin, Jianyu and Ghaffari, Maani},
booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
pages={333--344},
year={2022},
organization={Springer}
}

The code is mainly based on ORB-SLAM2(https://github.com/raulmur/ORB_SLAM2) and BDIS(https://github.com/JingweiSong/BDIS-v2).

This work is released under GPLv3 license. For commercial purposes, please contact the authors: [email protected], [email protected]