Auto-calibration Method for Active 3D Endoscope System Using Silhouette of Pattern Projector

Ryo Furukawa, Masahito Naito, Daisuke Miyazaki, Masahi Baba, Shinsaku Hiura, Yoji Sanomura, Shinji Tanaka, Hiroshi Kawasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In this paper, we develop an active stereo system for endoscope which requires auto-calibration, because a micro pattern projector is inserted through the instrument channel during an operation and cannot be fixed to the endoscope. For solution, a new auto-calibration technique with full 6-DOF estimation of an active stereo system without any extra devices nor extra pattern projections is proposed. In the technique, the pattern projector itself is simultaneously captured with a target scene by an endoscope camera and the silhouette of the pattern projector is used to conduct 2D-3D matching by using the knowledge of the shape of the projector. In addition, the markers which is included in the projection pattern are extracted and the distances from the closest epipolar lines are calculated as for the cost function. To enhance the robustness of the reconstruction, we also propose a simple high dynamic range (HDR) imaging system for an endoscope by alternating the input power of the pattern projector ON and OFF to blink the pattern so that exposure time will vary with beat frequency, realizing a virtual multi-exposure camera. By applying our auto calibration technique with HDR imaging system, we achieved a robust and accurate reconstruction of tissue in metric 3D under practical operation of the endoscopic system, such as reconstruction of the inside of a real stomach of a pig.

Original languageEnglish
Title of host publicationImage and Video Technology - 8th Pacific-Rim Symposium, PSIVT 2017, Revised Selected Papers
EditorsCarlos Hitoshi, Manoranjan Paul, Qingming Huang
PublisherSpringer Verlag
Number of pages15
ISBN (Print)9783319757858
Publication statusPublished - 2018
Event8th Pacific-Rim Symposium on Image and Video Technology, PSIVT 2017 - Wuhan, China
Duration: Nov 20 2017Nov 24 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10749 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other8th Pacific-Rim Symposium on Image and Video Technology, PSIVT 2017

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


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