Laparoscope self-calibration for robotic assisted minimally invasive surgery
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
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We show that the self-calibration of a stereo head from corresponding points in an image pair is in certain circumstances prone to considerable error. A novel error analysis reveals that the automated determination of relative orientation and focal length is adversely affected when the cameras verge inwards a similar amount, and when the principal point locations have a horizontal error. This analysis is facilitated by the adoption of closed-form solutions for self-calibration from previous work of the authors. It is also shown that estimation of the fundamental matrix associated with a stereo head image pair is improved when a domain-specific parameterization and associated computational techniques are adopted. Experiments conducted with such image pairs suggest that, given cognisance of sensitive configurations and adoption of the revised method of fundamental matrix estimation, robust reconstructions are attainable. This is demonstrated on the problem of metrically reconstructing a scene from two pairs of images obtained by an uncalibrated stereo head undergoing unknown ground-plane motion.