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首页> 外文会议>Augmented reality environments for medical imaging and computer-assisted interventions >Realtime Wide-Baseline Registration of the Uterus in Laparoscopic Videos Using Multiple Texture Maps
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Realtime Wide-Baseline Registration of the Uterus in Laparoscopic Videos Using Multiple Texture Maps

机译：使用多个纹理贴图的腹腔镜视频中子宫的实时宽基线配准

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We present a way to register the uterus in monocular laparoscopy in realtime using a novel two-phase approach. This differs significantly to SLAM, which is currently the leading approach for registration in MIS when scenes are approximately rigid. In the first phase we construct a 3D model of the uterus using dense SfM. This involves a method for semi-automatically masking the uterus from background structures in a set of reference frames, which we call Mask Bootstrapping from Motion (MBM). In the second phase the 3D model is registered to the live laparoscopic video using a novel wide-baseline approach that uses many texture maps to capture the real changes in appearance of the uterus. Capturing these changes means that registration can be performed reliably without needing temporal priors, which are needed in SLAM. This simplifies registration and leads to far fewer tuning parameters. We show that our approach significantly outperforms SLAM on an in vivo dataset comprising three human uteri.
机译：我们提出了一种使用新颖的两阶段方法在单眼腹腔镜中实时注册子宫的方法。这与SLAM显着不同，SLAM是当前场景几乎僵硬时在MIS中进行注册的主要方法。在第一阶段，我们使用密集的SfM构建子宫的3D模型。这涉及一种从一组参考框架中的背景结构中半自动遮掩子宫的方法，我们称其为运动遮罩引导（MBM）。在第二阶段，使用新颖的宽基线方法将3D模型注册到实时腹腔镜视频中，该方法使用许多纹理贴图来捕获子宫外观的真实变化。捕获这些更改意味着可以可靠地执行注册，而无需SLAM中需要的时间先验。这简化了配准并导致更少的调整参数。我们显示，我们的方法在包含三个人子宫的体内数据集上明显优于SLAM。

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