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A robust motion estimation system for minimal invasive laparoscopy
Publikationstyp
Conference Paper
Publikationsdatum
2012-02-12
Sprache
English
Herausgeber*innen
Institut
First published in
Number in series
8316
Volume
8316
Article Number
83162L
Citation
Progress in Biomedical Optics and Imaging - Proceedings of SPIE 8316: 83162L (2012-05-01)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
SPIE
Laparoscopy is a reliable imaging method to examine the liver. However, due to the limited field of view, a lot of experience is required from the surgeon to interpret the observed anatomy. Reconstruction of organ surfaces provide valuable additional information to the surgeon for a reliable diagnosis. Without an additional external tracking system the structure can be recovered from feature correspondences between different frames. In laparoscopic images blurred frames, specular reflections and inhomogeneous illumination make feature tracking a challenging task. We propose an ego-motion estimation system for minimal invasive laparoscopy that can cope with specular reflection, inhomogeneous illumination and blurred frames. To obtain robust feature correspondence, the approach combines SIFT and specular reflection segmentation with a multi-frame tracking scheme. The calibrated five-point algorithm is used with the MSAC robust estimator to compute the motion of the endoscope from multi-frame correspondence. The algorithm is evaluated using endoscopic videos of a phantom. The small incisions and the rigid endoscope limit the motion in minimal invasive laparoscopy. These limitations are considered in our evaluation and are used to analyze the accuracy of pose estimation that can be achieved by our approach. The endoscope is moved by a robotic system and the ground truth motion is recorded. The evaluation on typical endoscopic motion gives precise results and demonstrates the practicability of the proposed pose estimation system. © 2012 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).
Schlagworte
Laparoscopy
Pose-Estimation
Tracking
DDC Class
004: Informatik