Abstract:Abstract. This paper compares Kanade-Lucas-Tomasi (KLT), speeded up robust feature (SURF), and scale invariant feature transformation (SIFT) features applied to bronchoscope tracking. In our study, we first use KLT, SURF, or SIFT features and epipolar constraints to obtaininterframe translation (up to scale) and orientation displacements and Kalman filtering to recover an estimate for the magnitude of the motion (scale factor determination), and then multiply inter-frame motion parameters onto the previous pos… Show more
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