TY - GEN
T1 - 2-DOF auto-calibration for a 3D endoscope system based on active stereo
AU - Furukawa, Ryo
AU - Masutani, Ryunosuke
AU - Miyazaki, Daisuke
AU - Baba, Masashi
AU - Hiura, Shinsaku
AU - Visentini-Scarzanella, Marco
AU - Morinaga, Hiroki
AU - Kawasaki, Hiroshi
AU - Sagawa, Ryusuke
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/4
Y1 - 2015/11/4
N2 - For endoscopic medical treatment, measuring the size and shape of lesions, such as tumors, is important. We are developing a 3D endoscope system to measure the shape and size of living tissues based on active stereo. In previous works, our group attached a pattern projector outside the endoscope head. Since this increased the diameter of the endoscope, the burden and the risks of the patients would increase. In this paper, we set the pattern projector inside the instrument channel of the endoscope instead of mounting it outside, so that it can be deployed whenever required. This does not increase the size of the endoscope and facilitates the measuring process. However, since the projector is not physically fixed to the endoscope anymore prior to the operation, we propose an 'auto-calibration' technique where extrinsic parameters are calibrated intra-operatively from a point marker on the projector observed simultaneously on the target surface. In the experiment, we show that the external parameters were successfully calibrated to obtain 3D reconstructions properly with the overall systems. The accuracy of the auto-calibration was validated by confirming that the epipolar constraints were kept, and a 3D reconstruction of a human tissue was demonstrated.
AB - For endoscopic medical treatment, measuring the size and shape of lesions, such as tumors, is important. We are developing a 3D endoscope system to measure the shape and size of living tissues based on active stereo. In previous works, our group attached a pattern projector outside the endoscope head. Since this increased the diameter of the endoscope, the burden and the risks of the patients would increase. In this paper, we set the pattern projector inside the instrument channel of the endoscope instead of mounting it outside, so that it can be deployed whenever required. This does not increase the size of the endoscope and facilitates the measuring process. However, since the projector is not physically fixed to the endoscope anymore prior to the operation, we propose an 'auto-calibration' technique where extrinsic parameters are calibrated intra-operatively from a point marker on the projector observed simultaneously on the target surface. In the experiment, we show that the external parameters were successfully calibrated to obtain 3D reconstructions properly with the overall systems. The accuracy of the auto-calibration was validated by confirming that the epipolar constraints were kept, and a 3D reconstruction of a human tissue was demonstrated.
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U2 - 10.1109/EMBC.2015.7320233
DO - 10.1109/EMBC.2015.7320233
M3 - Conference contribution
C2 - 26738133
AN - SCOPUS:84953226331
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 7937
EP - 7941
BT - 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Y2 - 25 August 2015 through 29 August 2015
ER -