Image-based pose estimation of an endoscopic instrument

Rob Reilink; Stefano Stramigioli; Sarthak Misra

doi:10.1109/ICRA.2012.6224923

Image-based pose estimation of an endoscopic instrument

Rob Reilink^*, Stefano Stramigioli, Sarthak Misra

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This video shows a system that estimates the pose of a flexible endoscopic instrument, based on the endoscopic images. A three-dimensional rendering of the instrument is matched to the actual instrument that is observed through the endoscopic camera. This system was evaluated in an anatomical model of a colon. The estimated position of the tip of the instrument was compared to measurements performed with an electromagnetic tracker. The errors of the position estimation were 2 mm, 2.2 mm and 1.7 mm in the horizontal (x), vertical (y) and away-from-camera (z) directions, respectively.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	IEEE
Pages	3555-3556
Number of pages	2
ISBN (Electronic)	978-1-4673-1405-3
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224923
Publication status	Published - 1 Jan 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States Duration: 14 May 2012 → 18 May 2012

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Abbreviated title	ICRA
Country	United States
City	St. Paul
Period	14/05/12 → 18/05/12

Access to Document

10.1109/ICRA.2012.6224923

Link to publication in Scopus

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Cite this

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