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. 2019 Oct 18;7:3300310. doi: 10.1109/JTEHM.2019.2946802

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This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/

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FIGURE 3. — The initial 3D point cloud results on Subject A. The gray dots represent the reconstructed 3D points and the red pyramids represent the estimated endoscope poses. There is a significant difference between the cases with and without the IC dye. Only a sparse and small part of the stomach can be reconstructed in the case of without the IC dye. Moreover, because of the texture-less surface in the case of without the IC dye, the integrity of the structure is not sufficient. On the other hand, the whole stomach can be reconstructed using the red channel with the IC dye.