Replication data for "BronchoPose: an analysis of data and model configuration for vision-based bronchoscopy pose estimation"

BronchoPose dataset: a bronchoscopy navigation synthetic dataset based on real anatomies to enable fair comparison among methods. The presented database is composed by trajectories across airways extracted from Computerized Tomography (CT) scans. The anatomy of airways was extracted using a self-developed segmentation method. The trajectories of the database include the navigation path (spatial coordinates), the camera pose, and the simulated images of the virtual bronchoscopy. Virtual airways models are simulated using our own platform developed in C++ and VTK. From the virtual models, bronchoscope trajectories are simulated from the trachea entrance up until the 4 levels and cover the upper-right (ur), lower-right (br), upper-left (ul), and lower-left (bl) lobes. Trajectories are generated from the central navigation path through the luminal central line traversed using the arch-length parameter. Different increments in this parameter allow the simulation of varying velocities across the path. For each central path, different variations, both, in position and camera orientation are generated. Finally, paths with neighboring variations are randomly combined along the navigation arc-length parameter in order to simulate realistic trajectories. In total, our dataset has 876 trajectories per patient and lobe, amounting to a total of 842,712 frames. <br><br>