Robust feature matching for VSLAM in non-rigid scenes

Guangzhi Zhang; Guanyuan Feng; Fei He; Zhengang Jiang

doi:10.1117/12.2668343

20 April 2023 Robust feature matching for VSLAM in non-rigid scenes

Guangzhi Zhang, Guanyuan Feng, Fei He, Zhengang Jiang

Proceedings Volume 12602, International Conference on Electronic Information Engineering and Computer Science (EIECS 2022); 126021N (2023) https://doi.org/10.1117/12.2668343
Event: International Conference on Electronic Information Engineering and Computer Science (EIECS 2022), 2022, Changchun, China

Abstract

Minimally invasive surgery (MIS) has a wide range of applications in the medical field. Its emergence has brought many benefits to patients but has also brought great challenges to surgeons, requiring doctors with extensive surgical experience. The visual simultaneous localization and mapping (VSLAM) method can track the position of the endoscope during the operation and complete the 3D reconstruction of the scene, which can provide significant help to the surgeon through surgical navigation. Feature matching is an essential link in VSLAM, and the correct correspondence of feature points between two images determines the overall accuracy of VSLAM surgical navigation tasks. Aiming at the problems of nonrigid transformation and noise in medical image feature matching jobs, we propose a robust feature matching algorithm that can handle the effects of soft tissue deformation. This paper is validated using publicly available medical endoscopy datasets and compared with other state-of-the-art methods. The experimental results show that our method outperforms different approaches and has better performance in surgical scenarios.

Citation Download Citation

Guangzhi Zhang, Guanyuan Feng, Fei He, and Zhengang Jiang "Robust feature matching for VSLAM in non-rigid scenes", Proc. SPIE 12602, International Conference on Electronic Information Engineering and Computer Science (EIECS 2022), 126021N (20 April 2023); https://doi.org/10.1117/12.2668343

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KEYWORDS

Deformation

Expectation maximization algorithms

Interpolation

Surgery

Feature extraction

Technology

Detection and tracking algorithms

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