Differential algorithm for the determination of shape from shading using a point light source
Image and Vision Computing
Computer Vision and Image Understanding
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer vision
Multiple view geometry in computer vision
A New Perspective [on] Shape-from-Shading
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Estimating Surface Shape and Extending Known Structure using Specular Reflections
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 3 - Volume 03
Extracting layers and analyzing their specular properties using epipolar-plane-image analysis
Computer Vision and Image Understanding
Invisible shadow for navigation and planning in minimal invasive surgery
MICCAI'05 Proceedings of the 8th 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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For robotic assisted minimally invasive surgery, recovering the 3D soft-tissue shape and morphology in vivo is important for providing image-guidance, motion compensation and applying dynamic active constraints. In this paper, we propose a practical method for calibrating the illumination source position in monocular and stereoscopic laparoscopes. The method relies on using the geometric constraints from specular reflections obtained during the laparoscope camera calibration process. By estimating the light source position, the method forgoes the common assumption of coincidence with the camera centre and can be used to obtain constraints on the normal of the surface geometry during surgery from specularities. We demonstrate the effectiveness of the proposed approach with numerical simulations and by qualitative analysis of real stereo-laparoscopic calibrations.