Observation-driven adaptive differential evolution for robust bronchoscope 3-D motion tracking

Abstract

This paper proposes an observation-driven adaptive differential evolution (OADE) algorithm for accurate and robust bronchoscope 3-dimensional (3-D) motion tracking during electromagnetically navigated bronchoscopy. Two advantages of our framework are distinguished from any other adaptive differential evolution methods: (1) current observation information including sensor measurement and video image is used in the mutation equation and the selection function, respectively, and (2) the mutation factors and crossover rate are adaptively determined in terms of current image information. From experimental results, our OADE method was demonstrated to be an effective and promising tracking scheme. Our approach can reduce the tracking position error from 3.9 to 2.8 mm, as well as the position smoothness from 4.2 to 1.4 mm. © 2013 Springer-Verlag.