Author(s): Figueiredo, Isabel N. ; Pinto, Luís ; Perdigoto, Luís ; Oliveira, Marina ; Araújo, Hélder ; Figueiredo, Pedro N.
Date: 2019
Persistent ID: http://hdl.handle.net/10400.8/14348
Origin: IC-online
Subject(s): Image processing; Image registration; Calibration; Visual odometry; Endoscopy
We present results concerning the validation of a novel approach for wireless capsule endoscope localization, using as ground truth a simulated biological/mechanical environment experiment. The approach relies essentially on image-based methods. It involves a hybrid multi-scale affine and elastic image registration procedure which is afterwards appropriately complemented with calibration and visual odometry techniques. The capsule was fixed at the extremity of a robotic arm and moved along a part of an ex-vivo mammalian bowel. The first validation results indicate a good correlation between the ground truth velocity and distance traveled by the capsule and the velocity and distance given by the proposed approach.
