2021
DOI: 10.1109/lra.2021.3100938
|View full text |Cite
|
Sign up to set email alerts
|

Globally Optimal Fetoscopic Mosaicking Based on Pose Graph Optimisation With Affine Constraints

Abstract: Fetoscopic laser ablation surgery could be guided using a high-quality panorama of the operating site, representing a map of the placental vasculature. This can be achieved during the initial inspection phase of the procedure using image mosaicking techniques. Due to the lack of camera calibration in the operating room, it has been mostly modelled as an affine registration problem. While previous work mostly focuses on image feature extraction for visual odometry, the challenges related to large-scale reconstr… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1
1

Citation Types

0
16
0

Year Published

2022
2022
2024
2024

Publication Types

Select...
7

Relationship

2
5

Authors

Journals

citations
Cited by 14 publications
(16 citation statements)
references
References 28 publications
0
16
0
Order By: Relevance
“…As future work, we plan to design a hybrid solution that switches between a vessel-based approach and optical flow depending on the most appropriate context and to develop reliable selection mechanisms. In addition, we plan to utilize methods for global optimization and reduction of error drift such as [ 17 ], to provide long-term consistency in large-scale fetoscopic mosaicking.…”
Section: Discussionmentioning
confidence: 99%
“…As future work, we plan to design a hybrid solution that switches between a vessel-based approach and optical flow depending on the most appropriate context and to develop reliable selection mechanisms. In addition, we plan to utilize methods for global optimization and reduction of error drift such as [ 17 ], to provide long-term consistency in large-scale fetoscopic mosaicking.…”
Section: Discussionmentioning
confidence: 99%
“…In this part, different from previous methods, we assume q 3 as a Dirac delta function [37] which means that q 3 is only described by its mode. Therefore, we directly maximize the ELBO L(q) to derive the closed-form solution of q 3 instead of using the VBI's general solution (2). The variational optimization of this part can be regarded as the M-step of the EM algorithm.…”
Section: Variational Bayesian Approximate Posteriorsmentioning
confidence: 99%
“…P OINT set registration (PSR) is a fundamental research topic in robotics, computer vision [1], augmented reality (AR) and computer-assisted surgery (CAS) [2] [3]. The target of PSR is to recover the misalignment or the best transformation between two point sets (PS).…”
Section: Introductionmentioning
confidence: 99%
“…The challenge is to create a seamless image without parallax artefacts whilst retaining important information and keeping the main objects in realistic positions. A very similar technique called image mosaicing is already widely used in laparoscopy (e.g., [ 11 , 12 , 13 , 14 , 15 ]). Instead of stitching images from different cameras in the same time frame, it creates a panorama from the consecutive frames of a unique moving camera.…”
Section: Introductionmentioning
confidence: 99%