MULTI-CAM CAPSULE ENDOSCOPY IMAGERY:  3D CAPSULE LOCATION AND  DETECTION OF ABNORMALITIES

Publications

Wireless Capsule Endoscope Location and a Robotic Validation Experiment

Publication . Figueiredo, Isabel N.; Pinto, Luís; Perdigoto, Luís; Oliveira, Marina; Araújo, Hélder; Figueiredo, Pedro N.

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.

2019-09-25Conference paper

Open access