Fast Estimation of Broncho-Fiberoscope Egomotion for Ct-Guided Transbronchial Biopsy

The paper addresses the problem of very fast real-time estimation of forward and backward broncho-fiberoscope egomotion during the medical procedure of transbronchial biopsy. The proposed algorithm significantly differs from standard egomotion routines since it exploits specific rotational features of the bronchoscopic images resulting from the approximate cylinder-like structure of airway segments. The method is described in detail in the paper and tested on synthetic and real-word endoscopic images. Reported results explicitly confirm its efficiency.