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Purpose: The standard clinical treatment of Twin-to-Twin Transfusion Syndromeconsists in the photo-coagulation of undesired anastomoses located on theplacenta which are responsible to a blood transfer between the two twins. Whilebeing the standard of care procedure, fetoscopy suffers from a limitedfield-of-view of the placenta resulting in missed anastomoses. To facilitatethe task of the clinician, building a global map of the placenta providing alarger overview of the vascular network is highly desired. Methods: To overcomethe challenging visual conditions inherent to in vivo sequences (low contrast,obstructions or presence of artifacts, among others), we propose the followingcontributions: (i) robust pairwise registration is achieved by aligning theorientation of the image gradients, and (ii) difficulties regarding long-rangeconsistency (e.g. due to the presence of outliers) is tackled via a bag-of-wordstrategy, which identifies overlapping frames of the sequence to be registeredregardless of their respective location in time. Results: In addition to visualdifficulties, in vivo sequences are characterised by the intrinsic absence ofgold standard. We present mosaics motivating qualitatively our methodologicalchoices and demonstrating their promising aspect. We also demonstratesemi-quantitatively, via visual inspection of registration results, theefficacy of our registration approach in comparison to two standard baselines.Conclusion: This paper proposes the first approach for the construction ofmosaics of placenta in in vivo fetoscopy sequences. Robustness to visualchallenges during registration and long-range temporal consistency areproposed, offering first positive results on in vivo data for which standardmosaicking techniques are not applicable.

Retrieval and Registration of Long-Range Overlapping Frames for Scalable Mosaicking of In Vivo Fetoscopy