In this paper, two visual cues are proposed, to be exploited for the navigation of active endoscopic capsules within the gastrointestinal (GI) tract. These cues consist of the detection and tracking of the lumen and of an illumination highlight in capsule endoscopy (CE) images. The proposed approach aims at developing vision algorithms which are robust with respect to the challenging imaging conditions encountered in the GI tract and the great variability of the acquired images. Cases where no or more than one lumens exists, are also detected. The proposed approach extends the state-of-the art in lumen detection, and is demonstrated for in-vivo video sequences acquired from endoscopic capsules.
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