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Depth Estimation for Local Colon Structure in Monocular Capsule Endoscopy Based on Brightness and Camera Motion
Robotica ( IF 2.7 ) Pub Date : 2020-05-27 , DOI: 10.1017/s0263574720000399
Lei Xu , Jing Li , Yang Hao , Peisen Zhang , Gastone Ciuti , Paolo Dario , Qiang Huang

SUMMARYWe present a 3D reconstruction method using brightness and camera motion estimation for registering local colon structure in colonoscopy. The proposed method is based on reverse projection from 2D fold contours to 3D space, motion estimation from 3D reconstructed points between neighboring frames, and model registration to reconstruct the fold structure. On the synthetic colon, the average percentages of the reconstructed depth error and circumference error are about 14.2% and 15.2%, respectively. The accuracy is enough for the navigation and control in capsule robot. This work demonstrates that the proposed method is superior to the methods using single-frame-based brightness intensity.

中文翻译:

基于亮度和摄像机运动的单眼胶囊内窥镜局部结肠结构深度估计

摘要我们提出了一种在结肠镜检查中使用亮度和摄像机运动估计来配准局部结肠结构的 3D 重建方法。所提出的方法基于从 2D 折叠轮廓到 3D 空间的反向投影、从相邻帧之间的 3D 重建点的运动估计以及用于重建折叠结构的模型配准。在合成结肠上,重建深度误差和周长误差的平均百分比分别约为 14.2% 和 15.2%。精度足以满足胶囊机器人的导航和控制。这项工作表明,所提出的方法优于使用基于单帧的亮度强度的方法。
更新日期:2020-05-27
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