Computer Vision and Image Understanding
Towards 3D Reconstruction of Endoscope Images using Shape from Shading
SIBGRAPI '00 Proceedings of the 13th Brazilian Symposium on Computer Graphics and Image Processing
Global Shape from Shading for an Endoscope Image
MICCAI '99 Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention
"Perspective Shape from Shading" and Viscosity Solutions
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Shape-from-Shading Under Perspective Projection
International Journal of Computer Vision
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
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
3D reconstruction of internal organ surfaces for minimal invasive surgery
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Motion compensated SLAM for image guided surgery
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
High-frequency shape and albedo from shading using natural image statistics
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
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We present steps toward the first real-time system for computing and visualising 3D surfaces viewed in live monocular laparoscopy video. Our method is based on estimating 3D shape using shading and specularity information, and seeks to push current Shape from Shading (SfS) boundaries towards practical, reliable reconstruction. We present an accurate method to model any laparoscope's light source, and a highly-parallelised SfS algorithm that outperforms the fastest current method. We give details of its GPU implementation that facilitates realtime performance of an average frame-rate of 23fps. Our system also incorporates live 3D visualisation with virtual stereoscopic synthesis. We have evaluated using real laparoscopic data with ground-truth, and we present the successful in-vivo reconstruction of the human uterus. We however draw the conclusion that the shading cue alone is insufficient to reliably handle arbitrary laparoscopic images.