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

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Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking : application to fetoscopy. / Tella-Amo, Marcel; Peter, Loic; Shakir, Dzhoshkun I; Deprest, Jan; Stoyanov, Danail; Iglesias, Juan Eugenio; Vercauteren, Tom; Ourselin, Sebastien.

In: Journal of Medical Imaging, Vol. 5, No. 2, 021217, 01.04.2018.

Research output: Contribution to journalArticle

Harvard

Tella-Amo, M, Peter, L, Shakir, DI, Deprest, J, Stoyanov, D, Iglesias, JE, Vercauteren, T & Ourselin, S 2018, 'Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking: application to fetoscopy', Journal of Medical Imaging, vol. 5, no. 2, 021217. https://doi.org/10.1117/1.JMI.5.2.021217

APA

Tella-Amo, M., Peter, L., Shakir, D. I., Deprest, J., Stoyanov, D., Iglesias, J. E., Vercauteren, T., & Ourselin, S. (2018). Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking: application to fetoscopy. Journal of Medical Imaging, 5(2), [021217]. https://doi.org/10.1117/1.JMI.5.2.021217

Vancouver

Tella-Amo M, Peter L, Shakir DI, Deprest J, Stoyanov D, Iglesias JE et al. Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking: application to fetoscopy. Journal of Medical Imaging. 2018 Apr 1;5(2). 021217. https://doi.org/10.1117/1.JMI.5.2.021217

Author

Tella-Amo, Marcel ; Peter, Loic ; Shakir, Dzhoshkun I ; Deprest, Jan ; Stoyanov, Danail ; Iglesias, Juan Eugenio ; Vercauteren, Tom ; Ourselin, Sebastien. / Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking : application to fetoscopy. In: Journal of Medical Imaging. 2018 ; Vol. 5, No. 2.

Bibtex Download

@article{5a5bca786ae54fea9a1edc5bd199c9c9,
title = "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. 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 version of bundle adjustment that uses EMT information. We demonstrate the robustness to EMT noise and loss of visual information and evaluate mosaics for synthetic, phantom-based and ex vivo datasets.",
keywords = "electromagnetic tracking, fetoscopy, globally consistent mosaicking, laser coagulation, sensor fusion, sequential mosaicking, twin-to-twin transfusion syndrome",
author = "Marcel Tella-Amo and Loic Peter and Shakir, {Dzhoshkun I} and Jan Deprest and Danail Stoyanov and Iglesias, {Juan Eugenio} and Tom Vercauteren and Sebastien Ourselin",
year = "2018",
month = apr,
day = "1",
doi = "10.1117/1.JMI.5.2.021217",
language = "English",
volume = "5",
journal = "Journal of medical imaging (Bellingham, Wash.)",
issn = "2329-4302",
publisher = "SPIE",
number = "2",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - Probabilistic visual and electromagnetic data fusion for robust drift-free sequential mosaicking

T2 - application to fetoscopy

AU - Tella-Amo, Marcel

AU - Peter, Loic

AU - Shakir, Dzhoshkun I

AU - Deprest, Jan

AU - Stoyanov, Danail

AU - Iglesias, Juan Eugenio

AU - Vercauteren, Tom

AU - Ourselin, Sebastien

PY - 2018/4/1

Y1 - 2018/4/1

N2 - 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 version of bundle adjustment that uses EMT information. We demonstrate the robustness to EMT noise and loss of visual information and evaluate mosaics for synthetic, phantom-based and ex vivo datasets.

AB - 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 version of bundle adjustment that uses EMT information. We demonstrate the robustness to EMT noise and loss of visual information and evaluate mosaics for synthetic, phantom-based and ex vivo datasets.

KW - electromagnetic tracking

KW - fetoscopy

KW - globally consistent mosaicking

KW - laser coagulation

KW - sensor fusion

KW - sequential mosaicking

KW - twin-to-twin transfusion syndrome

UR - http://www.scopus.com/inward/record.url?scp=85042623460&partnerID=8YFLogxK

U2 - 10.1117/1.JMI.5.2.021217

DO - 10.1117/1.JMI.5.2.021217

M3 - Article

C2 - 29487889

AN - SCOPUS:85042623460

VL - 5

JO - Journal of medical imaging (Bellingham, Wash.)

JF - Journal of medical imaging (Bellingham, Wash.)

SN - 2329-4302

IS - 2

M1 - 021217

ER -

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