Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking: application to fetoscopy

Journal of Medical Imaging
Marcel Tella-AmoSebastien Ourselin

Abstract

The most effective treatment for twin-to-twin transfusion syndrome is laser photocoagulation of the shared vascular anastomoses in the placenta. Vascular connections are extremely challenging to locate due to their caliber and the reduced field-of-view of the fetoscope. Therefore, mosaicking techniques are beneficial to expand the scene, facilitate navigation, and allow vessel photocoagulation decision-making. Local vision-based mosaicking algorithms inherently drift over time due to the use of pairwise transformations. We propose the use of an electromagnetic tracker (EMT) sensor mounted at the tip of the fetoscope to obtain camera pose measurements, which we incorporate into a probabilistic framework with frame-to-frame visual information to achieve globally consistent sequential mosaics. We parametrize the problem in terms of plane and camera poses constrained by EMT measurements to enforce global consistency while leveraging pairwise image relationships in a sequential fashion through the use of local bundle adjustment. We show that our approach is drift-free and performs similarly to state-of-the-art global alignment techniques like bundle adjustment albeit with much less computational burden. Additionally, we propose a ve...Continue Reading

Citations

Aug 14, 2019·Journal of Medical Imaging·Marcel Tella-AmoSebastien Ourselin
Aug 19, 2020·International Journal of Computer Assisted Radiology and Surgery·Sophia BanoDanail Stoyanov

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