Robust camera localisation with depth reconstruction for bronchoscopic navigation
Bronchoscopy is a standard technique for airway examination, providing a minimally invasive approach for both diagnosis and treatment of pulmonary diseases. To target lesions identified pre-operatively, it is necessary to register the location of the bronchoscope to the CT bronchial model during the examination. Existing vision-based techniques rely on the registration between virtually rendered endobronchial images and videos based on image intensity or surface geometry. However, intensity-based approaches are sensitive to illumination artefacts, while gradient-based approaches are vulnerable to surface texture.
bronchoscopic navigation 2d/3d registration shape from shading depth recovery