Open AccessContext-Aware Depth and Pose Estimation for Bronchoscopic Navigation
Author(s) -
Mali Shen,
Yun Gu,
Ning Liu,
GuangZhong Yang
Publication year - 2019
Publication title -
ieee robotics and automation letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.123
H-Index - 56
ISSN - 2377-3766
DOI - 10.1109/lra.2019.2893419
Subject(s) - computer vision , artificial intelligence , computer science , context (archaeology) , monocular , image (mathematics) , pose , geography , archaeology
Endobronchial intervention is increasingly used as a minimally invasive means of lung intervention. Vision-based localization approaches are often sensitive to image artifacts in bronchoscopic videos. In this letter, a robust navigation system based on a context-aware depth recovery approach for monocular video images is presented. To handle the artifacts, a conditional generative adversarial lear...
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