@INPROCEEDINGS{reichl2011miccai,
  author = {Tobias Reichl and Xiongbiao Luo and Manuela Menzel and Hubert Hautmann
	and Kensaku Mori and Nassir Navab},
  title = {Deformable Registration of Bronchoscopic Video Sequences to {CT}
	Volumes with Guaranteed Smooth Output},
  booktitle = MICCAI,
  year = {2011},
  series = LNCS,
  publisher = Springer,
  note = {To appear},
  abstract = {We present a novel approach to tracking of flexible bronchoscopes
	by modeling the output as spatially continuous over time. Bronchoscopy
	is a widespread clinical procedure for diagnosis and treatment of
	lung diseases and navigation systems are highly needed. Tracking
	of the bronchoscope can be regarded as a deformable registration
	problem. In our approach we use hybrid image-based and electromagnetic
	tracking, and the bronchoscope pose relative to CT data is interpolated
	using Catmull-Rom splines for position and SLERP for orientation.
	We evaluate the method using ground truth poses manually selected
	by experts, where mean inter-expert agreement was determined as 1.26
	mm. For four dynamic phantom data sets, the accuracy of our method
	is between 4.13 and 5.93 mm and shown to be equivalent to previous
	methods. We significantly improve inter-frame smoothness from 2.35--3.08
	mm to 1.08--1.51 mm. Our method provides a more realistic and physically
	plausible solution with significantly less jitter. This quantitative
	result is confirmed by video output, which is much more consistent
	and robust, with fewer occasions of tracking loss or unexpected movement.},
  owner = {reichl},
  timestamp = {2011.05.23}
}
