Active Camera Calibration for a Head-Eye Platform Using the Variable State-Dimension Filter
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Flexible Calibration of Actuated Stereoscopic Endoscope for Overlay in Robot Assisted Surgery
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
A direct method for stereo correspondence based on singular value decomposition
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Accurate internal camera calibration using rotation, with analysis of sources of error
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Self-Calibrating a Stereo Head: An Error Analysis in the Neighbourhood of Degenerate Configurations
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
From Projective to Euclidean Space Under any Practical Situation, a Criticism of Self-Calibration
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Real Time Pattern Matching Using Projection Kernels
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
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
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
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For robotic assisted minimal access surgery, recovering 3D soft tissue deformation is important for intra-operative surgical guidance, motion compensation, and prescribing active constraints. We propose in this paper a method for determining varying focal lengths of stereo laparoscope cameras during robotic surgery. Laparoscopic images typically feature dynamic scenes of soft-tissue deformation and self-calibration is difficult with existing approaches due to the lack of rigid temporal constraints. The proposed method is based on the direct derivation of the focal lengths from the fundamental matrix of the stereo cameras with known extrinsic parameters. This solves a restricted self-calibration problem, and the introduction of the additional constraints improves the inherent accuracy of the algorithm. The practical value of the method is demonstrated with analysis of results from both synthetic and in vivo data sets.