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Surface Reconstruction from Tracked Endoscopic Video Using the Structure from Motion Approach

机译：使用运动学方法从跟踪的内窥镜视频重建表面

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摘要

The lack of 3D vision and proper depth perception associated with traditional endoscopy significantly limits the quality of the diagnostic examinations and therapy delivery. To address this challenge, we propose a technique to reconstruct a 3D model of the visualized scene from a sequence of spatially-encoded endoscopic video frames. The method is based on the structure from motion approach adopted from computer vision, and uses both the intrinsic camera parameters, as well as the tracking transforms associated with each acquired video frame to calculate the global coordinates of the features in the video, and generate a true size 3D model of the imaged scene. We conducted a series of phantom experiments to evaluate the robustness of the proposed method and the accuracy of a generated 3D scene, which yielded 1.7±0.9 mm reconstruction error. We also demonstrated the application of the proposed method using patient-specific endoscopic video image samples acquired during an in vivo gastroscopy procedure.
机译：传统内窥镜检查缺乏3D视觉和适当的深度感知，大大限制了诊断检查和治疗的质量。为了解决这一挑战，我们提出了一种从一系列空间编码的内窥镜视频帧中重建可视化场景的3D模型的技术。该方法基于计算机视觉采用的运动方法的结构，并使用固有的摄像机参数以及与每个获取的视频帧关联的跟踪变换来计算视频中特征的全局坐标，并生成一个成像场景的真实尺寸3D模型。我们进行了一系列的幻像实验，以评估该方法的鲁棒性和生成的3D场景的准确性，从而产生1.7±0.9 mm的重建误差。我们还演示了使用在体内胃镜检查过程中获取的患者特定内窥镜视频图像样本所提出的方法的应用。

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