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Deep EndoVO: A Recurrent Convolutional Neural Network (RCNN) based Visual Odometry Approach for Endoscopic Capsule Robots

2017

Article

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Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have recently made substantial progresses in converting passive capsule endoscopes to active capsule robots, enabling more accurate, precise, and intuitive detection of the location and size of the diseased areas. Since a reliable real time pose estimation functionality is crucial for actively controlled endoscopic capsule robots, in this study, we propose a monocular visual odometry (VO) method for endoscopic capsule robot operations. Our method lies on the application of the deep Recurrent Convolutional Neural Networks (RCNNs) for the visual odometry task, where Convolutional Neural Networks (CNNs) and Recurrent Neural Networks (RNNs) are used for the feature extraction and inference of dynamics across the frames, respectively. Detailed analyses and evaluations made on a real pig stomach dataset proves that our system achieves high translational and rotational accuracies for different types of endoscopic capsule robot trajectories.

Author(s): Turan, M. and Almalioglu, Y. and Araujo, H. and Konukoglu, E. and Sitti, M.
Journal: ArXiv e-prints
Year: 2017

Department(s): Physical Intelligence
Research Project(s): Pill-sized swallowable endoscopic soft capsule robots
Bibtex Type: Article (article)

Eprint: 1708.06822
URL: https://arxiv.org/abs/1708.06822

BibTex

@article{2017arXiv170806822T,
  title = {{Deep EndoVO: A Recurrent Convolutional Neural Network (RCNN) based Visual Odometry Approach for Endoscopic Capsule Robots}},
  author = {{Turan}, M. and {Almalioglu}, Y. and {Araujo}, H. and {Konukoglu}, E. and {Sitti}, M.},
  journal = {ArXiv e-prints},
  year = {2017},
  eprint = {1708.06822},
  url = {https://arxiv.org/abs/1708.06822}
}