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Structure from motion based approaches to 3D reconstruction in minimal invasive laparoscopy
Publikationstyp
Conference Paper
Date Issued
2012
Sprache
English
Institut
TORE-URI
First published in
Number in series
7325 LNCS
Issue
PART 2
Start Page
296
End Page
303
Citation
Lecture Notes in Computer Science: 7325 (PART 2): 296-303 (2012)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
Springer
The present article proposes a Structure from Motion (SfM) methodology to recover the liver surface from endoscopic video sequences. Features from an imaged liver are extracted and tracked for the complete sequence to generate a correspondences lookup table (C-LUT) between all frames. A keyframe selection code extracts two frames, from which the relative pose of the camera is reconstructed using a MSAC-based 5-Point algorithm. Techniques such as an optimal triangulation method and a PnP resection algorithm are also used to obtain an initial 3D surface of the liver. A global Bundle Adjustment step refines the initial reconstruction. Proper parametrization and conditioning of these techniques are compared and evaluated under typical laparoscopic uncertainties arising from patient, illumination, reflections, image quality and organs' location among others. A robotic system and grid patterns are used to provide camera pose and surface ground truth data respectively.
Subjects
Bundle Adjustment
Computer Aided Diagnosis
Endoscopy
Epipolar geometry
Image Reconstruction
Laparoscopy
Optimal triangulation
PnP problem
Rigid Registration
Structure from Motion
DDC Class
004: Informatik
600: Technik
610: Medizin