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

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

SUBMITTER: Tella-Amo M 

PROVIDER: S-EPMC5822039 | biostudies-literature | 2018 Apr

REPOSITORIES: biostudies-literature