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Paper Abstract and Keywords
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
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

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  
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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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