论文标题
内窥镜检查中的光度单视图3D重建
Photometric single-view dense 3D reconstruction in endoscopy
论文作者
论文摘要
人体内部的视觉大满贯将为内窥镜检查中的计算机辅助导航开辟道路。但是，由于空间限制，医疗内窥镜仅提供单眼图像，从而导致系统缺乏真正的规模。在本文中，我们利用结肠镜检查中的受控照明，在校准的单眼内窥镜上使用光度法立体声实现人类结肠的第一个体内3D重建。我们的方法在真实的医学环境中起作用，既提供了适合于结肠管状几何形状的适当的原位校准程序和深度估计技术。我们验证了模拟结肠镜检查的方法，在深度估计中获得了7％的平均误差，平均低于3 mm。我们在内膜数据集上的定性结果表明，该方法能够正确估计实际人类结肠镜检查中的结肠形状，为内窥镜检查中真正规模的单眼大满贯铺平了地面。
Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular images, leading to systems lacking true scale. In this paper, we exploit the controlled lighting in colonoscopy to achieve the first in-vivo 3D reconstruction of the human colon using photometric stereo on a calibrated monocular endoscope. Our method works in a real medical environment, providing both a suitable in-place calibration procedure and a depth estimation technique adapted to the colon's tubular geometry. We validate our method on simulated colonoscopies, obtaining a mean error of 7% on depth estimation, which is below 3 mm on average. Our qualitative results on the EndoMapper dataset show that the method is able to correctly estimate the colon shape in real human colonoscopies, paving the ground for true-scale monocular SLAM in endoscopy.
