Journal of Computer and System Sciences - Special issue: 31st IEEE conference on foundations of computer science, Oct. 22–24, 1990
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Point Set Registration: Coherent Point Drift
IEEE Transactions on Pattern Analysis and Machine Intelligence
Soft-tissue motion tracking and structure estimation for robotic assisted MIS procedures
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Hi-index | 0.00 |
The present article proposes a Structure from Motion (SfM) methodology to recover the liver surface from endoscopic video sequences. Features from an imaged liver are extracted and tracked for the complete sequence to generate a correspondences lookup table (C-LUT) between all frames. A keyframe selection code extracts two frames, from which the relative pose of the camera is reconstructed using a MSAC-based 5-Point algorithm. Techniques such as an optimal triangulation method and a PnP resection algorithm are also used to obtain an initial 3D surface of the liver. A global Bundle Adjustment step refines the initial reconstruction. Proper parametrization and conditioning of these techniques are compared and evaluated under typical laparoscopic uncertainties arising from patient, illumination, reflections, image quality and organs' location among others. A robotic system and grid patterns are used to provide camera pose and surface ground truth data respectively.