C3 - Self-supervised Visual Place Recognition for Colonoscopy Sequences

Javier Morlana, Pablo Azagra Millán, Javier Civera, José M. M. Montiel

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We present the first place recognition system trained specifically for colonoscopy sequences. We use the convolutional neural network for image retrieval proposed by Radenovic et al. and we fine-tune it using image pairs from real human colonoscopies. The colonoscopy frames are clustered automatically by a Structure-from-Motion (SfM) algorithm, which has proven to cope with scene deformation and illumination changes. The experiments show that the system is able to generalize by testing in a different human colonoscopy, retrieving frames observing the same place despite of the different viewpoint and illumination changes. The proposed place recognition would be a key component of Simultaneous Localization and Mapping (SLAM) systems operating in colonoscopy to assist doctors during the explorations or to support robotization.
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Wednesday 7th July
C1-9 (short): Endoscopy and Validation Studies - 16:45 - 17:30 (UTC+2)
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