Endoscope system, controller, and computer-readable storage medium

A controller for controlling an endoscope system including an endoscope, the controller comprising:

• one or more processors being configured to:
• extract first feature points from a first image captured by the endoscope;
• extract second feature points from a second image captured by the endoscope after acquisition of the first image;
• estimate a first result of position and orientation of the endoscope based on the first feature points and the second feature points;
• and
• calculate a first estimation accuracy based on the first result of position and orientation of the endoscope,
• wherein when the first estimation accuracy is greater than a predetermined value, the one or more processors is configured to utilize the first result as position and orientation of the endoscope,
• wherein, when the first estimation accuracy is equal to or smaller than the predetermined value, the one or more processors being further configured to:
• receive a first value detected by a sensor at the time of capturing the first image;
• receive a second value detected by the sensor at the time of capturing the second image;
• estimate a second result of position and orientation of the endoscope based on the first value and the second value;
• and
• calculate a second estimation accuracy based on the second result, so that when the second estimation accuracy is greater than the predetermined value:
• the one or more processors is configured to utilize the second result as position and orientation of the endoscope, and
• wherein the sensor is configured to detect at least one of position, orientation, movement speed, and acceleration of the endoscope.

A non-transitory computer-readable medium storing a computer-readable program for implementing controlling a method with an endoscope system including an endoscope, the method comprising:

• extracting first feature points from a first image captured by the endoscope;
• extracting second feature points from a second image captured by the endoscope after acquisition of the first image;
• estimating a first result of position and orientation of the endoscope based on the first feature points and the second feature points;
• and
• calculating a first estimation accuracy based on the first result of position and orientation of the endoscope so that when the first estimation accuracy is greater than a predetermined value, utilizing the first result as position and orientation of the endoscope,
• wherein, when the first estimation accuracy is equal to or smaller than the predetermined value, the method further comprising:
• receiving a first value detected by a sensor at the time of capturing the first image;
• receiving a second value detected by the sensor at the time of capturing the second image;
• estimating a second result of position and orientation of the endoscope based on the first value and the second value;
• and
• calculating a second estimation accuracy based on the second result, so that when the second estimation accuracy is greater than the predetermined value, utilizing the second result as position and orientation of the endoscope, and
• wherein the sensor is configured to detect at least one of position, orientation, movement speed, and acceleration of the endoscope.