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首页> 外文期刊>Biomedical Engineering, IEEE Transactions on >A New Solution for Camera Calibration and Real-Time Image Distortion Correction in Medical Endoscopy–Initial Technical Evaluation
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A New Solution for Camera Calibration and Real-Time Image Distortion Correction in Medical Endoscopy–Initial Technical Evaluation

机译：医用内窥镜相机校准和实时图像失真校正的新解决方案–初始技术评估

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摘要

Medical endoscopy is used in a wide variety of diagnostic and surgical procedures. These procedures are renowned for the difficulty of orienting the camera and instruments inside the human body cavities. The small size of the lens causes radial distortion of the image, which hinders the navigation process and leads to errors in depth perception and object morphology. This article presents a complete software-based system to calibrate and correct the radial distortion in clinical endoscopy in real time. Our system can be used with any type of medical endoscopic technology, including oblique-viewing endoscopes and HD image acquisition. The initial camera calibration is performed in an unsupervised manner from a single checkerboard pattern image. For oblique-viewing endoscopes the changes in calibration during operation are handled by a new adaptive camera projection model and an algorithm that infer the rotation of the probe lens using only image information. The workload is distributed across the CPU and GPU through an optimized CPU+GPU hybrid solution. This enables real-time performance, even for HD video inputs. The system is evaluated for different technical aspects, including accuracy of modeling and calibration, overall robustness, and runtime profile. The contributions are highly relevant for applications in computer-aided surgery and image-guided intervention such as improved visualization by image warping, 3-D modeling, and visual SLAM.
机译：医用内窥镜可用于多种诊断和手术程序。这些步骤因难以将照相机和仪器对准人体腔内而闻名。镜头的小尺寸会导致图像径向变形，从而阻碍导航过程并导致深度感知和物体形态方面的错误。本文介绍了一个完整的基于软件的系统，可以实时校准和校正临床内窥镜检查中的径向变形。我们的系统可与任何类型的医疗内窥镜技术一起使用，包括斜视内窥镜和高清图像采集。从单个棋盘图案图像以无监督的方式执行初始相机校准。对于斜视内窥镜，在操作过程中校准的变化由新的自适应摄像机投影模型和仅使用图像信息来推断探测透镜旋转的算法来处理。通过优化的CPU + GPU混合解决方案，工作负载分布在CPU和GPU上。即使是高清视频输入，也可以实现实时性能。对系统进行了不同技术方面的评估，包括建模和校准的准确性，整体鲁棒性和运行时配置文件。这些贡献与计算机辅助手术和图像引导干预中的应用高度相关，例如通过图像变形，3-D建模和可视化SLAM改善可视化效果。

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