Systems for detecting and tracking of objects and co-registration

[0071]Here we describe methods to process the 2-D images to arrive at a linearized representation of a lumen of a moving organ. Illustrations of the proposed methods are shown for intervention of the coronary artery. A linear map is a mapping from a point on the curved trajectory of a lumen (or the wire inserted into the lumen) to actual linear distance measured from a reference point. This is shown in the schematic 100 in FIG. 1.

[0072]Many cardiac procedures involve the insertion of a lumen assessment device such as IVUS, OCT and LFR (see e.g., U.S. Pat. No. 8,374,689 B2 which is incorporated herein by reference in its entirety and for any purpose). In most of these cases, there is a need to co-register the position of the assessment device on a previously captured X-ray image that is usually also an angiographic image. This reference image is typically also used by the physician during a possible following intervention procedure such as angioplasty and stent deployment. A correct co-