{"id":"https://openalex.org/W4294975180","doi":"https://doi.org/10.1109/embc48229.2022.9871588","title":"Endoscope Localization and Dense Surgical Scene Reconstruction for Stereo Endoscopy by Unsupervised Optical Flow and Kanade-Lucas-Tomasi Tracking","display_name":"Endoscope Localization and Dense Surgical Scene Reconstruction for Stereo Endoscopy by Unsupervised Optical Flow and Kanade-Lucas-Tomasi Tracking","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4294975180","doi":"https://doi.org/10.1109/embc48229.2022.9871588","pmid":"https://pubmed.ncbi.nlm.nih.gov/36086106"},"language":"en","primary_location":{"id":"doi:10.1109/embc48229.2022.9871588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc48229.2022.9871588","pdf_url":null,"source":{"id":"https://openalex.org/S4363607706","display_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10153602/pdf/nihms-1892742.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086043351","display_name":"Zixin Yang","orcid":"https://orcid.org/0000-0002-3754-8542"},"institutions":[{"id":"https://openalex.org/I155173764","display_name":"Rochester Institute of Technology","ror":"https://ror.org/00v4yb702","country_code":"US","type":"education","lineage":["https://openalex.org/I155173764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zixin Yang","raw_affiliation_strings":["Rochester Institute of Technology,Center for Imaging Science,Rochester,NY,USA,14623"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rochester Institute of Technology,Center for Imaging Science,Rochester,NY,USA,14623","institution_ids":["https://openalex.org/I155173764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101857094","display_name":"Shan Lin","orcid":"https://orcid.org/0000-0002-3254-1923"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shan Lin","raw_affiliation_strings":["University of California,Electrical and Computer Engineering,San Diego,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Electrical and Computer Engineering,San Diego,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006665747","display_name":"Richard Simon","orcid":null},"institutions":[{"id":"https://openalex.org/I155173764","display_name":"Rochester Institute of Technology","ror":"https://ror.org/00v4yb702","country_code":"US","type":"education","lineage":["https://openalex.org/I155173764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Simon","raw_affiliation_strings":["Rochester Institute of Technology,Biomedical Engineering,USA,NY,USA,14623"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rochester Institute of Technology,Biomedical Engineering,USA,NY,USA,14623","institution_ids":["https://openalex.org/I155173764"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085736904","display_name":"Cristian A. Linte","orcid":"https://orcid.org/0000-0001-7602-7937"},"institutions":[{"id":"https://openalex.org/I155173764","display_name":"Rochester Institute of Technology","ror":"https://ror.org/00v4yb702","country_code":"US","type":"education","lineage":["https://openalex.org/I155173764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cristian A. Linte","raw_affiliation_strings":["Rochester Institute of Technology,Center for Imaging Science,Rochester,NY,USA,14623","Biomedical Engineering, Rochester Institute of Technology, USA, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rochester Institute of Technology,Center for Imaging Science,Rochester,NY,USA,14623","institution_ids":["https://openalex.org/I155173764"]},{"raw_affiliation_string":"Biomedical Engineering, Rochester Institute of Technology, USA, NY, USA","institution_ids":["https://openalex.org/I155173764"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6358,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.85201832,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2022","issue":null,"first_page":"4839","last_page":"4842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8326916694641113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8284602165222168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6969649791717529},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6551485657691956},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6448547840118408},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5933043956756592},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.570458710193634},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5671164393424988},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.5443978905677795},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.534742534160614},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4428376853466034},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23475632071495056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11414274573326111},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07612636685371399},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07398718595504761},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07239383459091187}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8326916694641113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8284602165222168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6969649791717529},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6551485657691956},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6448547840118408},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5933043956756592},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.570458710193634},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5671164393424988},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.5443978905677795},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.534742534160614},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4428376853466034},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23475632071495056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11414274573326111},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07612636685371399},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07398718595504761},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07239383459091187},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016099","descriptor_name":"Endoscopy, Gastrointestinal","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016099","descriptor_name":"Endoscopy, Gastrointestinal","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016099","descriptor_name":"Endoscopy, Gastrointestinal","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D057849","descriptor_name":"Optic Flow","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057849","descriptor_name":"Optic Flow","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057849","descriptor_name":"Optic Flow","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc48229.2022.9871588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc48229.2022.9871588","pdf_url":null,"source":{"id":"https://openalex.org/S4363607706","display_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:36086106","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36086106","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10153602","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10153602","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10153602/pdf/nihms-1892742.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Annu Int Conf IEEE Eng Med Biol Soc","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:10153602","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10153602","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10153602/pdf/nihms-1892742.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Annu Int Conf IEEE Eng Med Biol Soc","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4294975180.pdf"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W2009422376","https://openalex.org/W2535547924","https://openalex.org/W2798414551","https://openalex.org/W2963764717","https://openalex.org/W2971851026","https://openalex.org/W3102327032","https://openalex.org/W3152803807","https://openalex.org/W3161896016","https://openalex.org/W3179159099","https://openalex.org/W3181702434","https://openalex.org/W4298129340","https://openalex.org/W6679388247","https://openalex.org/W6787724516","https://openalex.org/W6798587331"],"related_works":["https://openalex.org/W2084446318","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016"],"abstract_inverted_index":{"In":[0],"image-guided":[1],"surgery,":[2],"endoscope":[3,39,159],"tracking":[4,40,83,160],"and":[5,21,31,41,78,100,133,149,161],"surgical":[6],"scene":[7,43,162],"reconstruction":[8,22],"are":[9,71],"critical,":[10],"yet":[11],"equally":[12],"challenging":[13],"tasks.":[14],"We":[15,104],"present":[16],"a":[17],"hybrid":[18,86],"visual":[19,87,93],"odometry":[20,88,94],"framework":[23,108],"for":[24],"stereo":[25,66],"endoscopy":[26],"that":[27],"leverages":[28],"unsupervised":[29,55],"learning-based":[30,56],"traditional":[32,92],"optical":[33,57],"flow":[34,58],"methods":[35,130],"to":[36,47,60,156],"enable":[37,157],"concurrent":[38],"dense":[42,62,75],"reconstruction.":[44,163],"More":[45],"specifically,":[46],"reconstruct":[48],"texture-less":[49],"tissue":[50],"surfaces,":[51],"we":[52],"use":[53],"an":[54],"method":[59,137],"estimate":[61],"depth":[63,76],"maps":[64,77],"from":[65,73,91],"images.":[67],"Robust":[68],"3D":[69],"landmarks":[70],"selected":[72],"the":[74,81,106,116],"tracked":[79],"via":[80,115],"Kanade-Lucas-Tomasi":[82],"algorithm.":[84],"The":[85],"also":[89],"benefits":[90],"modules,":[95],"such":[96],"as":[97,124,126],"keyframe":[98],"insertion":[99],"local":[101],"bundle":[102],"adjustment.":[103],"evaluate":[105],"proposed":[107,136],"on":[109],"endoscopic":[110],"video":[111],"sequences":[112],"openly":[113],"available":[114],"SCARED":[117],"dataset":[118],"against":[119],"both":[120,144],"ground":[121],"truth":[122],"data,":[123],"well":[125],"two":[127],"other":[128],"state-of-the-art":[129],"-":[131],"ORB-SLAM2":[132],"Endo-depth.":[134],"Our":[135],"achieved":[138],"comparable":[139],"results":[140],"in":[141],"terms":[142],"of":[143],"RMS":[145,151],"Absolute":[146],"Trajectory":[147],"Error":[148],"Cloud-to-Mesh":[150],"Error,":[152],"suggesting":[153],"its":[154],"potential":[155],"accurate":[158]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}