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| Presentation | 2017-11-06 14:50 Study on Robustness of ORB-SLAM Based Outlier Elimination in Bronchoscope Tracking -- RANSAC + EPnP for Outlier Detection -- Cheng Wang, Masahiro Oda, Yuichiro Hayashi (Nagoya Univ.), Hirotoshi Honma (Sapporo-Kosei General Hospital), Hirotsugu Takabatake (Sapporo-Minami-Sanjo Hospital), Masaki Mori (Sapporo-Kosei General Hospital), Hiroshi Natori (Keiwakai Nishioka Hospital), Kensaku Mori (Nagoya Univ.)  MICT2017-36 MI2017-58 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | In this paper, we investigate the robustness of outlier removal in posture tracking of bronchoscope based on ORB-SLAM. Our method uses image-based posture tracking method called ORB-SLAM to track the posture of bronchoscope. ORB feature points are extracted from the image in each frame of the real bronchoscope video, the position and orientation of the bronchoscope are estimated from the positional relationship of the feature points between two conseculue frames, 3D structure of the bronchi is simultaneously reconstructed. However, due to the deformation of the bronchus, outlier matches may exist in matched feature points, which may result in larger errors. In this paper, candidate matches are selected using RANSAC in order to reduce mismatch in calculation of corresponding points. Furthermore, after estimating the posture using the EPnP algorithm, candidate matches are selected by calculating reprojection errors. Experimental results showed that the method proposed in four cases can track an average of 224 frames more than the previous tracking system. The average tracking rate of the proposed method was 76.5%. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | bronchoscope tracking / SLAM / 3D reconstruction / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 117, no. 281, MI2017-58, pp. 47-52, Nov. 2017. | |
| Paper # | MI2017-58 | |
| Date of Issue | 2017-10-30 (MICT, MI) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | MICT2017-36 MI2017-58 |
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| Conference Information | |
| Committee | MI MICT |
| Conference Date | 2017-11-06 - 2017-11-06 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Sunport Hall Takamatsu |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Medical Imaging, etc. |
| Paper Information | |
| Registration To | MI |
| Conference Code | 2017-11-MI-MICT |
| Language | English (Japanese title is available) |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Study on Robustness of ORB-SLAM Based Outlier Elimination in Bronchoscope Tracking |
| Sub Title (in English) | RANSAC + EPnP for Outlier Detection |
| Keyword(1) | bronchoscope tracking |
| Keyword(2) | SLAM |
| Keyword(3) | 3D reconstruction |
| Keyword(4) | |
| Keyword(5) | |
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| 1st Author's Name | Cheng Wang |
| 1st Author's Affiliation | Nagoya University (Nagoya Univ.) |
| 2nd Author's Name | Masahiro Oda |
| 2nd Author's Affiliation | Nagoya University (Nagoya Univ.) |
| 3rd Author's Name | Yuichiro Hayashi |
| 3rd Author's Affiliation | Nagoya University (Nagoya Univ.) |
| 4th Author's Name | Hirotoshi Honma |
| 4th Author's Affiliation | Sapporo-Kosei General Hospital (Sapporo-Kosei General Hospital) |
| 5th Author's Name | Hirotsugu Takabatake |
| 5th Author's Affiliation | Sapporo-Minami-Sanjo Hospital (Sapporo-Minami-Sanjo Hospital) |
| 6th Author's Name | Masaki Mori |
| 6th Author's Affiliation | Sapporo-Kosei General Hospital (Sapporo-Kosei General Hospital) |
| 7th Author's Name | Hiroshi Natori |
| 7th Author's Affiliation | Keiwakai Nishioka Hospital (Keiwakai Nishioka Hospital) |
| 8th Author's Name | Kensaku Mori |
| 8th Author's Affiliation | Nagoya University (Nagoya Univ.) |
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| Speaker | Author-1 |
| Date Time | 2017-11-06 14:50:00 |
| Presentation Time | 20 minutes |
| Registration for | MI |
| Paper # | MICT2017-36, MI2017-58 |
| Volume (vol) | vol.117 |
| Number (no) | no.280(MICT), no.281(MI) |
| Page | pp.47-52 |
| #Pages | 6 |
| Date of Issue | 2017-10-30 (MICT, MI) |
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