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Simultaneous Localisation And Mapping (SLAM) methods provide real-time estimation of 3D models from the sole input of a hand-held camera, routinely in mobile robotics scenarios. Medical endoscopic sequences mimic a robotic scenario in which a hand-held camera (monocular endoscope) moves along an unknown trajectory while observing an unknown cavity. However, the feasibility and accuracy of SLAM methods have not been extensively validated with human in-vivo image sequences. In this work, wedoi:10.1109/tmi.2013.2282997 pmid:24107925 fatcat:hiuuet5e5jbjzffwmpogfigbwm