Being raw, the method of guiding the doctor who is the bronchial mirror or in the midst of other endoscope dealing with. 3D motion of the bronchial mirror is presumed, high speed roughly using pursuit step and the spirit registration step which follows to that. As for pursuit, you discover 1 set of corresponding feature points which extend over the plural continual bronchial mirror video frames, you do by presuming the attitude where the bronchial mirror is new next. With form of desirable execution, as for attitude presumption, it is based on the linearization of the rotation matrix. It gives 1 set of corresponding points over all of the present bronchial mirror video picture, it can use the same method for also manual registration the hypothetical picture which in addition designates CT as the base as input by giving. As for spirit registration step, it is desirable to be the gauss Newton method which designates the slope which converts the correlation with the bronchial mirror video picture and the hypothetical picture which designates CT as the base maximally as the base. The continual guide is offered by presuming the 3D motion of the bronchial mirror with the loop. Because depth map information is available, to do by solving 3D 2D attitude presumption problem it is possible pursuit. 3D 2D attitude presumption problem is restrain than 2D 2D attitude presumption problem, influence of the restriction which accompanies the calculation of the basic matrix is not received. Use of the method of designating slope as the base because of registration by using the cost which designates correlation as the base in place of manual information as registration cost, becomes simpler.生で気管支鏡または他の内視鏡処置中の医師を案内する方法。気管支鏡の3D運動は、高速粗追跡ステップ及びそれに続く精レジストレーションステップを使用して推定される。追跡は、複数の連続気管支鏡ビデオフレームにまたがる1組の対応特色点を見出し、次いで気管支鏡の新しい姿勢を推定することによって行う。好ましい実施の形態では、姿勢推定は、回転マトリックスの線形化に基づく。現在の気管支鏡ビデオ画像の全域にわたって1組の対応点を与え、またCTをベースとする仮想画像を入力として与えることによって、同じ方法を手動レジストレーションにも使用することができる。精レジストレーションステップは、気管支鏡ビデオ画像とCTを
