Shape-from-Shading under Near Point Lighting and Partial views for Orthopedic Endoscopy

Abstract : Bone reconstruction using endoscopy is important for computer aided minimally invasive orthopedic surgery. During surgery an endoscope consisting of a camera and one or more light sources is inserted through a small incision into the body and the acquired images are analyzed. Since bone surface is featureless, shading is the primary cue for shape perception. However, due to the small field of view of the endoscope, only a small part of the bone and its occluding contour are visible in any single image. Therefore even human perception of bone shape from such images can be hard. We present a novel technique to reconstruct the surface of the bone by applying shape-from-shading to a sequence of endoscopic images, with partial boundary in each image. We first perform geometric and the photometric calibration for the endoscope. We then extend the classical shape-fromshading algorithm to include a near point light source that is not optically co-located with the camera. By tracking the endoscope we are able to align partial shapes obtained from different images in the global (world) coordinates. An ICP algorithm is then used to improve the matching, resulting in a complete occluding boundary of the bone. Finally, a complete and consistent shape is obtained by imultaneously re-growing surface normals and depths in all views. We demonstrate the accuracy of our technique using simulations and experiments with artificial bones.
Type de document :
Communication dans un congrès
Peter Belhumeur and Katsushi Ikeuchi and Emmanuel Prados and Stefano Soatto and Peter Sturm. Proceedings of the First International Workshop on Photometric Analysis For Computer Vision - PACV 2007, Oct 2007, Rio de Janeiro, Brazil. INRIA, 8 p., 2007
Liste complète des métadonnées

Littérature citée [30 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00264929
Contributeur : Inria Rhône-Alpes Documentation <>
Soumis le : mardi 18 mars 2008 - 12:02:12
Dernière modification le : mardi 18 mars 2008 - 12:03:17
Document(s) archivé(s) le : vendredi 21 mai 2010 - 00:37:01

Fichier

p19.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00264929, version 1

Collections

Citation

Chenyu Wu, Srinivasa Narasimhan, Branislav Jaramaz. Shape-from-Shading under Near Point Lighting and Partial views for Orthopedic Endoscopy. Peter Belhumeur and Katsushi Ikeuchi and Emmanuel Prados and Stefano Soatto and Peter Sturm. Proceedings of the First International Workshop on Photometric Analysis For Computer Vision - PACV 2007, Oct 2007, Rio de Janeiro, Brazil. INRIA, 8 p., 2007. 〈inria-00264929〉

Partager

Métriques

Consultations de la notice

201

Téléchargements de fichiers

79