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Background and Objective: A computer-aided system for colorectal endoscopy could provide endoscopists with important helpful diagnostic support during examinations. A straightforward means of providing an objective diagnosis in real time might be for using classifiers to identify individual parts of every endoscopic video frame, but the results could be highly unstable due to out-of-focus frames. To address this problem, we propose a defocus-aware Dirichlet particle filter (D-DPF) that combines a particle filter with a Dirichlet distribution and defocus information., Methods: We develop a particle filter with a Dirichlet distribution that represents the state transition and likelihood of each video frame. We also incorporate additional defocus information by using isolated pixel ratios to sample from a Rayleigh distribution., Results: We tested the performance of the proposed method using synthetic and real endoscopic videos with a frame-wise classifier trained on 1671 images of colorectal endoscopy. Two synthetic videos comprising 600 frames were used for comparisons with a Kalman filter and D-DPF without defocus information, and D-DPF was shown to be more robust against the instability of frame-wise classification results. Computation time was approximately 88ms/frame, which is sufficient for real-time applications. We applied our method to 33 endoscopic videos and showed that the proposed method can effectively smoothen highly unstable probability curves under actual defocus of the endoscopic videos., Conclusion: The proposed D-DPF is a useful tool for smoothing unstable results of frame-wise classification of endoscopic videos to support real-time diagnosis during endoscopic examinations., (Copyright © 2016 Elsevier B.V. All rights reserved.)

We address a problem of endoscopic image classification taken by different (e.g., old and new) endoscopies. Our proposed method formulates the problem as a constraint optimization that estimates a linear transformation between feature vectors (or Bag-of-Visual words histograms) in a framework of transfer learning. Experimental results show that the proposed method works much better than the case without feature transformation.

In this paper we investigate a method for segmentation of colorectal Narrow Band Imaging (NBI) endoscopic images with Support Vector Machine (SVM) and Markov Random Field (MRF). SVM classifiers recognize each square patch of an NBI image and output posterior probabilities that represent how likely the given patch falls into a certain label. To prevent the spatial inconsistency between adjacent patches and encourage segmented regions to have smoother shapes, MRF is introduced by using the posterior outputs of SVMs as a unary term of MRF energy function. Segmentation results of 1191 NBI images are evaluated in experiments in which SVMs were trained with 480 trimmed NBI images and the MRF energy was minimized by an α - β swap Graph Cut.

For endoscopic medical treatment, measuring the size and shape of the lesion, such as a tumor, is important for the improvement of diagnostic accuracy. We are developing a system to measure the shapes and sizes of living tissue by active stereo method using a normal endoscope on which a micro pattern projector is attached. In order to perform 3D reconstruction, estimating the intrinsic and extrinsic parameters of the endoscopic camera and the pattern projector is required. Particularly, calibration of the pattern projector is difficult. In this paper, we propose a simultaneous estimation method of both intrinsic and extrinsic parameters of the pattern projector. This simplifies the calibration procedure required in practical scenes. Furthermore, we have developed an efficient user interface to intuitively operate the calibration and reconstruction procedures. Using the developed system, we measured the shape of an internal tissue of the soft palate of a human and a biological specimen.