Monocular Visual - Odometry applied in capsule endoscope system

• Main Authors: Fu-Jun Chang, 張富鈞
• Other Authors: Chih-Wen Liu
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/fgamx4

碩士 === 國立臺灣大學 === 電機工程學研究所 === 105 === With modern technology increasing, people begin to endow computer vision true meaning. That enables people to learn egomotion from only video stream or detect faces from picture or even diagnosis some disease from image of a face. In the past years, LAB228 dedicated to develop a controllable capsule endoscope system and already have some achievement in upper GI-tract. In the cooperation with Taipei Municipal Wanfang Hospital, LAB228 have designed a handheld Magnetic Field Navigator system that allows user to move, roll and control the viewing angle of capsule endoscope in upper GI-tract. Also, establish few papers which are focus on magnetic control systems for capsule endoscopic operation in stomach of IEEE Trans. Biomed. Eng. Now, this research team, LAB228 and Wanfang Hospital included, go further to design a magnetic control system for capsule endoscopic operation in lower GI-track. This new control system is based on three concepts. First, using magnetic locating and some imaging process for building a real-time capsule endoscope locating system. Second, design a robotic Magnetic Field Navigator (MFN) to substitute the handheld MFN. Finally, combination the capsule endoscope locating systems and computer based MFN to build an Intuitive model for lower GI-tract detection. This thesis is aim to find a possible solution for giving capsule endoscope locating systems a real-time information of capsule endoscope based on its video stream. This thesis test mono VO’s performance in abdominal cavity-scale environment. First, author test straight motion and simulated large intestine path for ensure mono VO can fit in these small scale (usually VO systems is using in car egomtion field) in open space. Then test straight motion in a large intestine model to make sure mono VO work in this environment. At the result of this thesis shows that on straight length of 10~30cm there is an error of 1~3cm on its present.