The determination of motion within a sequence of images remains one of the fundamental problems in computer vision after more than 30 years of research. Despite this work, there have been relatively few applications of these techniques to practical problems outside the fields of robotics and video encoding. In this paper, we present the continuing work to apply optical flow and egomotion recovery to the problem of measuring and navigating through the airway using a bronchoscope during a standard procedure, without the need for any additional data, localization systems or other external components. The current implementation uses a number of techniques to provide a range of numerical measurements and estimations to physicians in real time, using standard computer hardware
