Related papers: ColonMapper: topological mapping and localization …
This paper presents deformable templates as a tool for segmentation and localization of biological structures in medical images. Structures are represented by a prototype template, combined with a parametric warp mapping used to deform the…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Choosing a suitable filtering function for the Mapper algorithm can be difficult due to its arbitrariness and domain-specific requirements. Finding a general filtering function that can be applied across domains is therefore of interest,…
This paper presents a colonoscope tracking method utilizing a colon shape estimation method. CT colonography is used as a less-invasive colon diagnosis method. If colonic polyps or early-stage cancers are found, they are removed in a…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…
Computer tomographic colonography, combined with computer-aided detection, is a promising emerging technique for colonic polyp analysis. We present a complete pipeline for polyp detection, starting with a simple colon segmentation technique…
This paper presents a colon deformation estimation method, which can be used to estimate colon deformations during colonoscope insertions. Colonoscope tracking or navigation system that navigates a physician to polyp positions during a…
Computerized detection of colonic polyps remains an unsolved issue because of the wide variation in the appearance, texture, color, size, and presence of the multiple polyp-like imitators during colonoscopy. In this paper, we propose a deep…
Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…
Colonoscopy is a standard imaging tool for visualizing the entire gastrointestinal (GI) tract of patients to capture lesion areas. However, it takes the clinicians excessive time to review a large number of images extracted from colonoscopy…
CNN-based object detection models that strike a balance between performance and speed have been gradually used in polyp detection tasks. Nevertheless, accurately locating polyps within complex colonoscopy video scenes remains challenging…
Geometric alignment appears in a variety of applications, ranging from domain adaptation, optimal transport, and normalizing flows in machine learning; optical flow and learned augmentation in computer vision and deformable registration…
Colonic polyps are well-recognized precursors to colorectal cancer (CRC), typically detected during colonoscopy. However, the variability in appearance, location, and size of these polyps complicates their detection and removal, leading to…
Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
Colorectal cancer (CRC) is one of the most common types of cancer with a high mortality rate. Colonoscopy is the preferred procedure for CRC screening and has proven to be effective in reducing CRC mortality. Thus, a reliable computer-aided…
Image landmark detection aims to automatically identify the locations of predefined fiducial points. Despite recent success in this field, higher-ordered structural modeling to capture implicit or explicit relationships among anatomical…
Colonoscopy is a common and practical method for detecting and treating polyps. Segmenting polyps from colonoscopy image is useful for diagnosis and surgery progress. Nevertheless, achieving excellent segmentation performance is still…
There is often a significant gap between research results and applicability in routine medical practice. This work studies the performance of well-known local features on a medical dataset captured during routine colonoscopy procedures.…