Feature Point Tracking-Based Localization of Colon Capsule Endoscope

Jürgen Herp, Ulrik Deding, Maria Magdalena Buijs, Rasmus Krøijer, Gunnar Baatrup, Esmaeil S. Nadimi

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In large bowel investigations using endoscopic capsules and upon detection of significant findings, physicians require the location of those findings for a follow-up therapeutic colonoscopy. To cater to this need, we propose a model based on tracking feature points in consecutive frames of videos retrieved from colon capsule endoscopy investigations. By locally approximating the colon as a cylinder, we obtained both the displacement and the orientation of the capsule using geometrical assumptions and by setting priors on both physical properties of the intestine and the image sample frequency of the endoscopic capsule. Our proposed model tracks a colon capsule endoscope through the large intestine for different prior selections. A discussion on validating the findings in terms of intra and inter capsule and expert panel validation is provided. The performance of the model is evaluated based on the average difference in multiple reconstructed capsule’s paths through the large intestine. The path difference averaged over all videos was as low as 4±0.7 cm, with min and max error corresponding to 1.2 and 6.0 cm, respectively. The inter comparison addresses frame classification for the rectum, descending and sigmoid, splenic flexure, transverse, hepatic, and ascending, with an average accuracy of 86%.
Original languageEnglish
Article number193
Issue number2
Number of pages17
Publication statusPublished - 2021


  • capsule endoscopy
  • feature points tracking
  • localization
  • large bowel


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