T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab Motion compensation for bronchoscope navigation using electromagnetic tracking, airway segmentation, and image similarity Proceedings of Bildverarbeitung fuer die Medizin (BVM 2012), Berlin, Germany, March 2012 (bib)
	We present a novel approach to motion compensation for bronchoscope navigation where the bronchoscope trajectory is modeled using a spline curve. Initial position and orientation measurements from electromagnetic tracking are refined using the distance of the trajectory from airways segmented in preoperative CT data, and similarity between real and virtual bronchoscopic images. We present an evaluation on a dynamic motion phantom and on a moving ex-vivo porcine lung. Ground truth data is provided by human experts.
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