A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Towards Endoscopic Augmented Reality for Robotically Assisted Minimally Invasive Cardiac Surgery
MIAR '01 Proceedings of the International Workshop on Medical Imaging and Augmented Reality (MIAR '01)
Nonrigid Structure-from-Motion: Estimating Shape and Motion with Hierarchical Priors
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Novel Algorithm for Heart Motion Analysis Based on Geometric Constraints
MICCAI '08 Proceedings of the 11th international conference on Medical Image Computing and Computer-Assisted Intervention - Part I
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
3D reconstruction of internal organ surfaces for minimal invasive surgery
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Simultaneous stereoscope localization and soft-tissue mapping for minimal invasive surgery
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Motion compensated SLAM for image guided surgery
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
Tissue deformation recovery with gaussian mixture model based structure from motion
AE-CAI'11 Proceedings of the 6th international conference on Augmented Environments for Computer-Assisted Interventions
A comparative study of correspondence-search algorithms in MIS images
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
3D reconstruction in laparoscopy with close-range photometric stereo
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
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This paper presents a new method to reconstruct the beating heart surface based on the non-rigid structure from motion technique using preprocessed endoscopic images. First the images captured at the same phase within each heart cycle are automatically extracted from the original image sequence to reduce the dimension of the deformation subspace. Then the remaining residual non-rigid motion is restricted to lie within a low-dimensional subspace and a probabilistic model is used to recover the 3D structure and camera motion simultaneously. Outliers are removed iteratively based on the reprojection error. Missing data are also recovered with an Expectation Maximization algorithm. As a result the camera can move around the operation scene to build a 3D surface with a wide field-of-view for intra-operative procedures. The method has been evaluated with synthetic data, heart phantom data, and in vivo data from a da Vinci surgical system.