Template-Based conformal shape-from-motion-and-shading for laparoscopy

Authors:
Abed Malti;Adrien Bartoli;Toby Collins
Affiliations:
ALCoV-ISIT, UMR 6284 CNRS/Université d'Auvergne, Clermont-Ferrand, France;ALCoV-ISIT, UMR 6284 CNRS/Université d'Auvergne, Clermont-Ferrand, France;ALCoV-ISIT, UMR 6284 CNRS/Université d'Auvergne, Clermont-Ferrand, France
Venue:
IPCAI'12 Proceedings of the Third international conference on Information Processing in Computer-Assisted Interventions
Year:
2012

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Abstract

Shape-from-Shading (SfS) is one of the fundamental techniques to recover depth from a single view. Such a method has shown encouraging but limited results in laparoscopic surgery due to the complex reflectance properties of the organ tissues. On the other hand, Template-Based Deformable-Shape-from-Motion (DSfM) has been recently used to recover a coarse 3D shape in laparoscopy. We propose to combine both geometric and photometric cues to robustly reconstruct 3D human organs. Our method is dubbed Deformable-Shape-from-Motion-and-Shading (DSfMS). It tackles the limits of classical SfS and DSfM methods: First the photometric template is reconstructed using rigid SfM (Shape-from-Motion) while the surgeon is exploring --- but not deforming --- the peritoneal environment. Second a rough 3D deformed shape is computed using a recent method for elastic surface from a single laparoscopic image. Third a fine 3D deformed shape is recovered using shading and specularities. The proposed approach has been validated on both synthetic data and in-vivo laparoscopic videos of a uterus. Experimental results illustrate its effectiveness compared to SfS and DSfM.