To address the application requirements of Visual Simultaneous Localization and Mapping (VSLAM) in intracavitary environments and the scarcity of gold-standard datasets for deep learning methods, this study proposes a hybrid attention mechanism combined with U-Net for vascular branch point extraction in endoluminal images (SuperVessel). The network is initialized via transfer learning with pre-trained SuperRetina model parameters and integrated with a vascular feature detection and matching method based on dual branch fusion and structure enhancement, generating a pseudo-gold-standard vascular branch point dataset. The framework employs a dual-decoder architecture, incorporates a dynamic up-sampling module (CBAM-Dysample) to refine local vessel features through hybrid attention mechanisms, designs a Dice-Det loss function weighted by branching features to prioritize vessel junctions, and introduces a dynamically weighted Triplet-Des loss function optimized for descriptor discrimination. Experiments on the Vivo test set demonstrate that the proposed method achieves an average Area Under Curve (AUC) of 0.760, with mean feature points, accuracy, and repeatability scores of 42,795, 0.5294, and 0.46, respectively. Compared to SuperRetina, the method maintains matching stability while exhibiting superior repeatability, feature point density, and robustness in low-texture/deformation scenarios. Ablation studies confirm the CBAM-Dysample module’s efficacy in enhancing feature expression and convergence speed, offering a robust solution for intracavitary SLAM systems.
Xu et al. (Sun,) studied this question.