Towards 3D Reconstruction of Endoscope Images using Shape from Shading
SIBGRAPI '00 Proceedings of the 13th Brazilian Symposium on Computer Graphics and Image Processing
Towards Endoscopic Augmented Reality for Robotically Assisted Minimally Invasive Cardiac Surgery
MIAR '01 Proceedings of the International Workshop on Medical Imaging and Augmented Reality (MIAR '01)
Passive Photometric Stereo from Motion
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
A Multi-Image Shape-from-Shading Framework for Near-Lighting Perspective Endoscopes
International Journal of Computer Vision
Non-rigid Reconstruction of the Beating Heart Surface for Minimally Invasive Cardiac Surgery
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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
Video Normals from Colored Lights
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper we present the first solution to 3D reconstruction in monocular laparoscopy using methods based on Photometric Stereo (PS). Our main contributions are to provide the new theory and practical solutions to successfully apply PS in close-range imaging conditions. We are specifically motivated by a solution with minimal hardware modification to existing laparoscopes. In fact the only physical modification we make is to adjust the colour of the laparoscope's illumination via three colour filters placed at its tip. Once calibrated, our approach can compute 3D from a single image, does not require correspondence estimation, and computes absolute depth densely. We demonstrate the potential of our approach with ground truth ex-vivo and in-vivo experimentation.