Diversity-enhanced condensation algorithm and its application for robust and accurate endoscope three-dimensional motion tracking

Xiongbiao Luo, Ying Wan, Xiangjian He, Jie Yang, Kensaku Mori

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

The paper proposes a diversity-enhanced condensation algorithm to address the particle impoverishment problem which stochastic filtering usually suffers from. The particle diversity plays an important role as it affects the performance of filtering. Although the condensation algorithm is widely used in computer vision, it easily gets trapped in local minima due to the particle degeneracy. We introduce a modified evolutionary computing method, adaptive differential evolution, to resolve the particle impoverishment under a proper size of particle population. We apply our proposed method to endoscope tracking for estimating three-dimensional motion of the endoscopic camera. The experimental results demonstrate that our proposed method offers more robust and accurate tracking than previous methods. The current tracking smoothness and error were significantly reduced from (3.7, 4.8) to (2.3 mm, 3.2 mm), which approximates the clinical requirement of 3.0 mm.

Original languageEnglish
Title of host publicationProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
PublisherIEEE Computer Society
Pages1250-1257
Number of pages8
ISBN (Electronic)9781479951178, 9781479951178
DOIs
Publication statusPublished - 24 Sep 2014
Externally publishedYes
Event27th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2014 - Columbus, United States
Duration: 23 Jun 201428 Jun 2014

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
ISSN (Print)1063-6919

Conference

Conference27th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2014
Country/TerritoryUnited States
CityColumbus
Period23/06/1428/06/14

Keywords

  • Diversity-Enhanced Condensation Algorithm
  • Endoscope 3D Motion Tracking
  • Endoscopic Navigation

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

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