Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark

Jianning Deng,Peize Li,Kevin Dhaliwal,Chris Xiaoxuan Lu,Mohsen Khadem,Jianning Deng,Peize Li,Kevin Dhaliwal,Chris Xiaoxuan Lu,Mohsen Khadem

Bronchoscopy is a medical procedure that involves the insertion of a flexible tube with a camera into the airways to survey, diagnose and treat lung diseases. Due to the complex branching anatomical structure of the bronchial tree and the similarity of the inner surfaces of the segmental airways, navigation systems are now being routinely used to guide the operator during procedures to access the ...