A Comparative Study of Ego-Motion Estimation Algorithms for Teleoperated Robotic Endoscopes

Colorectal cancer is one of the leading causes of cancer-related mortality in the world, although it can be efficiently treated if detected early. Colonoscopy is the most-commonly adopted visual screening procedure of the colon by means of a flexible tiny endoscopic camera. In an effort to promote early screening and to facilitate mastering the endoscope motion by the physician, teleoperable robotic endoscopes and wireless capsules are being developed. In order to enable precise and fast closed-loop control for these devices, the accurate 3-D position and orientation of the camera must be known. Estimating the camera ego-motion by processing the endoscopic video provides a viable solution since it does not require the adoption of external magnetic trackers during the screening procedure that can occupy the scope’s operation channel. Furthermore, and compared to SLAM or registration approaches, ego-motion estimation algorithms do not require to deal with the highly deformable (and thus highly-uncertain) global 3D map of the colon.

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