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NA-MIC Project Weeks

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Bronchoscope Localization From Depth Map

Key Investigators

Project Description

The goal is to localize a bronchoscope through the use of depth maps generated from bronchoscopy images using neural networks.


  1. Objective A. Produce point-cloud/models from depth maps.
  2. Objective B. Within slicer, register point-cloud/models to CT scan model.

Approach and Plan

  1. We will use data from a bronchoscopy on a phantom lung.
  2. We will generate depth maps using a technique by Marco Visentini-Scarzanella[1]
  3. We will then convert depth maps into point clouds
  4. Finally, we plan to use slicer to register point clouds to the CT scan.

Progress and Next Steps

  1. The steps we have already completed is the training and testing of the neural networks used to generate depth maps.
  2. We have converted a depth map into a point cloud.
  3. We have fixed the issue regarding the size and location of the point cloud relative to its actual position in the phantom lung.
  4. We also were able to register the point cloud to the CT scan in Slicer using Model/Surface Registration.
  5. The next step is to improve training so the predicted depth maps are more accurate.


4 From left to right: True RGB, True rendered RGB, True depth map, Predicted rendered RGB, Predicted depth map from predicted RGB, Predicted depth map from true RGB



3 Red: Original model

Green: Reconstructed from depth map

Background and References

  1. https://drive.google.com/file/d/0B0x0v_kN6YuMa0dscEpLUjNnemM/view