High accuracy 3D data acquisition using co-registered OCT and kinect
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems: 7849463, 32-37 (2016-07-02)
In many clinical scenarios, the spatial resolution of typical time-of-flight devices is not sufficient. Optical coherence tomography (OCT) presents an interesting high resolution modality with applications in image guided surgery and tissue characterization. However, the small field of view makes scanning larger areas difficult. We therefore consider co-registering a ToF depth camera (Kinect) with its large field-of-view but limited accuracy and OCT with its smaller field-of-view but very high accuracy. We study two approaches to obtain a registration between Kinect and OCT. The first approach is based on a novel marker and a direct registration between the two devices, either with or without using the construction of the novel marker. The second approach uses the marker to obtain a calibration between the OCT and a hexapod (Stewart platform) carrying it, and separate calibration between hexapod and Kinect. We show that the first approach typically results in better registration between Kinect and OCT with translational and rotational errors of (2.25 ± 1.23) mm and (1.54 ± 0.77)°, respectively. Furthermore, we demonstrate the use of the combined system to obtain a high resolution scan of the irregularly shaped surface of a head phantom.