A Combined EM and Visual Tracking Probabilistic Model for Robust Mosaicking: Application to Fetoscopy

Marcel Tella-Amo, Pankaj Daga, Francois Chadebecq, Stephen Thompson, Dzhoshkun I. Shakir, George Dwyer, Ruwan Wimalasundera, Jan Deprest, Danail Stoyanov, Tom Vercauteren, Sebastien Ourselin; The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2016, pp. 84-92

Abstract


Twin-to-Twin Transfusion Syndrome (TTTS) is a progressive pregnancy complication in which inter-twin vascular connections in the shared placenta result in a blood flow imbalance between the twins. The most effective therapy is to sever these connections by laser photo-coagulation. However, the limited field of view of the fetoscope hinders their identification. A potential solution is to augment the surgeon's view by creating a mosaic image of the placenta. State-of-the-art mosaicking methods use feature-based approaches, which have three main limitations: (i) they are not robust against corrupt data e.g. blurred frames, (ii) temporal information is not used, (iii) the resulting mosaic suffers from drift. We introduce a probabilistic temporal model that incorporates electromagnetic and visual tracking data to achieve a robust mosaic with reduced drift. By assuming planarity of the imaged object, the nRT decomposition can be used to parametrize the state vector. Finally, we tackle the non-linear nature of the problem in a numerically stable manner by using the Square Root Unscented Kalman Filter. We show an improvement in performance in terms of robustness as well as a reduction of the drift in comparison to state-of-the-art methods in synthetic, phantom and ex vivo datasets.

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[bibtex]
@InProceedings{Tella-Amo_2016_CVPR_Workshops,
author = {Tella-Amo, Marcel and Daga, Pankaj and Chadebecq, Francois and Thompson, Stephen and Shakir, Dzhoshkun I. and Dwyer, George and Wimalasundera, Ruwan and Deprest, Jan and Stoyanov, Danail and Vercauteren, Tom and Ourselin, Sebastien},
title = {A Combined EM and Visual Tracking Probabilistic Model for Robust Mosaicking: Application to Fetoscopy},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
month = {June},
year = {2016}
}