arxivcs.RO2026-07-06
Geometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion
Mohammadreza Kasaei, Francis Xiatian Zhang, Feng Li, Farshid Alambeigi, Kevin Dhaliwal, Mohsen Khadem
Navigational bronchoscopy is critical for pulmonary interventions, yet current platforms depend heavily on pre-operative CT or external sensors, limiting their use in critical care and resource-constrained settings. Vision-only navigation offers a scalable alternative, but conven…