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International Workshop on Computer-Assisted and Robotic Endoscopy

CARE 2014: Computer-Assisted and Robotic Endoscopy pp 64–76Cite as

A Comparative Study of Ego-Motion Estimation Algorithms for Teleoperated Robotic Endoscopes

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 8899))

Abstract

Colorectal cancer is one of the leading causes of cancer-related mortality in the world, although it can be efficiently treated if detected early. Colonoscopy is the most-commonly adopted visual screening procedure of the colon by means of a flexible tiny endoscopic camera. In an effort to promote early screening and to facilitate mastering the endoscope motion by the physician, teleoperable robotic endoscopes and wireless capsules are being developed. In order to enable precise and fast closed-loop control for these devices, the accurate 3-D position and orientation of the camera must be known. Estimating the camera ego-motion by processing the endoscopic video provides a viable solution since it does not require the adoption of external magnetic trackers during the screening procedure that can occupy the scope’s operation channel. Furthermore, and compared to SLAM or registration approaches, ego-motion estimation algorithms do not require to deal with the highly deformable (and thus highly-uncertain) global 3D map of the colon.

This paper provides researchers in the medical imaging computing community with an in-depth comparison of several state-of-the-art ego-motion estimation methods that can localize the camera with respect to an initial video frame. Four optical-flow (OF) algorithms are analyzed and their performance is examined when used in two state-of-the-art (supervised and unsupervised) 6 degrees of freedom (DoF) ego-motion estimation algorithms. The ability for each of these methods to precisely localize the camera after a long trajectory have been examined. To the best of our knowledge, this is the first work that compares vision-based localization algorithms in a endoscopic scenario.

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Notes

  1. 1.

    http://www.ndigital.com/

  2. 2.

    http://www.blender.org/

  3. 3.

    http://astra.uta.edu/research/augmented-colonoscopy/

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Author information

Authors and Affiliations

  1. Department of Computer Science and Engineering, University of Texas at Arlington, 500 UTA Blvd., Arlington, TX, 76019, USA

    Gustavo A. Puerto-Souza, Aaron N. Staranowicz & Gian-Luca Mariottini

  2. Department of Mechanical Engineering, Vanderbilt University, 506 Olin Hall, Nashville, TN, 37235, USA

    Charreau S. Bell & Pietro Valdastri

Authors
  1. Gustavo A. Puerto-Souza
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  2. Aaron N. Staranowicz
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  3. Charreau S. Bell
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  4. Pietro Valdastri
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  5. Gian-Luca Mariottini
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Corresponding author

Correspondence to Gustavo A. Puerto-Souza .

Editor information

Editors and Affiliations

  1. Robarts Research Institute, London, Canada

    Xiongbiao Luo

  2. KUKA Laboratories GmbH, Augsburg, Germany

    Tobias Reichl

  3. Johns Hopkins University, Baltimore, USA

    Daniel Mirota

  4. Intuitive Surgical, Sunnyvale, California, USA

    Timothy Soper

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© 2014 Springer International Publishing Switzerland

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Puerto-Souza, G.A., Staranowicz, A.N., Bell, C.S., Valdastri, P., Mariottini, GL. (2014). A Comparative Study of Ego-Motion Estimation Algorithms for Teleoperated Robotic Endoscopes. In: Luo, X., Reichl, T., Mirota, D., Soper, T. (eds) Computer-Assisted and Robotic Endoscopy. CARE 2014. Lecture Notes in Computer Science(), vol 8899. Springer, Cham. https://doi.org/10.1007/978-3-319-13410-9_7

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  • DOI: https://doi.org/10.1007/978-3-319-13410-9_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-13409-3

  • Online ISBN: 978-3-319-13410-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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