Differential algorithm for the determination of shape from shading using a point light source
Image and Vision Computing
Shape from Shading: A Well-Posed Problem?
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Belief Propagation for Depth Cue Fusion in Minimally Invasive Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Efficient 3D Tracking for Motion Compensation in Beating Heart Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Robust 3d visual tracking for robotic-assisted cardiac interventions
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
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
Integration of new features for telerobotic surgery into the MiroSurge system
Applied Bionics and Biomechanics - Surgical Robotics
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With increasing demand on intra-operative navigation and motion compensation during robotic assisted minimally invasive surgery, real-time 3D deformation recovery remains a central problem. Currently the majority of existing methods rely on salient features, where the inherent paucity of distinctive landmarks implies either a semi-dense reconstruction or the use of strong geometrical constraints. In this study, we propose a gaze-contingent depth reconstruction scheme by integrating human perception with semi-dense stereo and p-q based shading information. Depth inference is carried out in real-time through a novel application of Bayesian chains without smoothness priors. The practical value of the scheme is highlighted by detailed validation using a beating heart phantom model with known geometry to verify the performance of gaze-contingent 3D surface reconstruction and deformation recovery.