Generative Localization With Uncertainty Estimation Through Video-CT Data for Bronchoscopic Biopsy.

Robot-assisted endobronchial intervention requires accurate localization based on both intra- and pre-operative data. Most existing methods achieve this by registering 2D videos with 3D CT models according to a defined similarity metric with local features. Instead, we formulate the bronchoscopic localization as a learning-based global localisation using deep neural networks. The proposed network ...