Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Automated Extraction and Visualization of Bronchus from 3D CT Images of Lung
CVRMed '95 Proceedings of the First International Conference on Computer Vision, Virtual Reality and Robotics in Medicine
Towards a Better Comprehension of Similarity Measures Used in Medical Image Registration
MICCAI '99 Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention
A Real-Time Deformable Model for Flexible Instruments Inserted into Tubular Structures
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part II
Automatic segmentation and inpainting of specular highlights for endoscopic imaging
Journal on Image and Video Processing - Special issue on emerging methods for color image and video quality enhancement
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This paper describes a method for tracking the camera motion of a real endoscope by epipolar geometry analysis and image-based registration. In an endoscope navigation system, which provides navigation information to a medical doctor during an endoscopic examination, tracking the camera motion of the endoscopic camera is one of the fundamental functions. With a flexible endoscope, it is hard to directly sense the position of the camera, since we cannot attach a positional sensor at the tip of the endoscope. The proposed method consists of three parts: (1) calculation of corresponding point-pairs of two time-adjacent frames, (2) coarse estimation of the camera motion by solving the epipolar equation, and (3) fine estimation by executing image-based registration between real and virtual endoscopic views. In the method, virtual endoscopic views are obtained from X-ray CT images of real endoscopic images of the same patient. To evaluate the method, we applied it a real endoscopic video camera and X-ray CT images. The experimental results showed that the method could track the motion of the camera satisfactorily.