A visual SLAM-based bronchoscope tracking scheme for bronchoscopic navigation.

We present a novel methodology using visual SLAM for bronchoscope tracking. Our experimental results showed that it is feasible to use visual SLAM for the estimation of the bronchoscope camera pose during bronchoscopic navigation. Our proposed method tracked more frames and showed higher accuracy than the original technique did. Future work will include combining the tracking results with virtual bronchoscopy and validation with in vivo cases.