Saliency Improvement in Feature-Poor Surgical Environments Using Local Laplacian of Specified Histograms

Abstract

Navigation in endoscopic environments requires an accurate and robust localisation system. A key challenge in such environments is the paucity of visual features that hinders accurate tracking. This paper examines the performance of three image enhancement techniques for tracking under such feature-poor conditions including Contrast Limited Adaptive Histogram Specification (CLAHS), Fast Local Laplacian Filtering (LLAP) and a new combination of the two coined Local Laplacian of Specified Histograms (LLSH). Two cadaveric knee arthroscopic datasets and an underwater seabed inspection dataset are used for the analysis, where results are interpreted by defining visual saliency as the number of correctly matched key-point (SIFT and SURF) features. Experimental results show a significant improvement in contrast quality and feature matching performance when image enhancement techniques are used. Results also demonstrate the LLSHs ability to vastly improve SURF tracking performance indicating more than 87% of successfully matched frames. A comparative analysis provides some important insights useful in the design of vision-based navigation for autonomous agents in feature-poor environments.