Tingyu Yu

Multimodal Point Cloud Registration Method Based on Centerline-Guided Expansion and Contraction: An Optimization Strategy Applied in Bronchial Lumen Map Building

In this work, a multimodal point cloud registration method using CT and video frames is proposed to optimize the modeling of the bronchial cavity environment. Preoperative CT data improve the quality of point clouds acquired from intraoperative video frames. Initially, preoperative CT scans are used