Rectification and Robust Matching Using Oriented Image Triplets  for Minimally Invasive Surgery

Conen, N.; Jepping, C.; Lühmann, Thomas; Maas, Hans‐Gerd

doi:10.5194/isprs-annals-iii-3-27-2016

Cited by 3 publications

(7 citation statements)

References 14 publications

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“…To improve matching results for applications having poor illumination conditions, a trinocular system which suppresses disturbing reflections is introduced. As described in Conen et al (2016), a dense point cloud from the observed surface is computed by a semi-global matching approach for three images. The presented trinocular system and the matching approach from Conen et al (2016) is used to evaluate the effect of polarising filters on image matching.…”

Section: Experiments and Resultsmentioning

confidence: 99%

“…As described in Conen et al (2016), a dense point cloud from the observed surface is computed by a semi-global matching approach for three images. The presented trinocular system and the matching approach from Conen et al (2016) is used to evaluate the effect of polarising filters on image matching. Therefore, two experiments on a moistened pig kidney are conducted (Figure 10).…”

Section: Experiments and Resultsmentioning

confidence: 99%

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Improving Image Matching by Reducing Surface Reflections Using Polarising Filter Techniques

Conen

Hastedt

Kahmen

et al. 2018

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:In dense stereo matching applications surface reflections may lead to incorrect measurements and blunders in the resulting point cloud.To overcome the problem of disturbing reflexions polarising filters can be mounted on the camera lens and light source. Reflections in the images can be suppressed by crossing the polarising direction of the filters leading to homogeneous illuminated images and better matching results.However, the filter may influence the camera's orientation parameters as well as the measuring accuracy. To quantify these effects, a calibration and an accuracy analysis is conducted within a spatial test arrangement according to the German guideline VDI/VDE 2634.1 (2002) using a DSLR with and without polarising filter. In a second test, the interior orientation is analysed in more detail. The results do not show significant changes of the measuring accuracy in object space and only very small changes of the interior orientation (c ≤ 4 µm) with the polarising filter in use.Since in medical applications many tiny reflections are present and impede robust surface measurements, a prototypic trinocular endoscope is equipped with polarising technique. The interior and relative orientation is determined and analysed. The advantage of the polarising technique for medical image matching is shown in an experiment with a moistened pig kidney. The accuracy and completeness of the resulting point cloud can be improved clearly when using polarising filters. Furthermore, an accuracy analysis using a laser triangulation system is performed and the special reflection properties of metallic surfaces are presented.

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Section: Experiments and Resultsmentioning

confidence: 99%

Section: Experiments and Resultsmentioning

confidence: 99%

Improving Image Matching by Reducing Surface Reflections Using Polarising Filter Techniques

Conen

Hastedt

Kahmen

et al. 2018

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…To improve the reliability especially in regions with repetitive or low texture, a trinocular endoscope has been developed by Conen et al (2016). A third camera could easily be integrated into current stereo endoscopes and should bring a higher reliability and accuracy for surface reconstruction.…”

Section: Trinocularmentioning

confidence: 99%

“…The computational most expensive part is the semi-global optimisation which is applied once during the process using the aggregated NCC of a corresponding point triplet. A comprehensive description of the algorithm is given in Conen et al (2016).…”

Section: Figure 7 Miniaturised Cameras and Trinocular Mountingmentioning

confidence: 99%

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Overview of Photogrammetric Measurement Techniques in Minimally Invasive Surgery Using Endoscopes

Conen

Lühmann

2017

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:This contribution provides an overview of various photogrammetric measurement techniques in minimally invasive surgery and presents a self-developed prototypical trinocular endoscope for reliable surface measurements. Most of the presented techniques focus on applications regarding laparoscopy, which mean endoscopic operations in the abdominal or pelvic cavities. Since endoscopic operations are very demanding to the surgeon, various assistant systems have been developed. Imaging systems may use photogrammetric techniques in order to perform 3D measurements during operation. The intra-operatively acquired 3D data may be used for analysis, model registration, guidance or documentation. Passive and active techniques have been miniaturised, integrated into endoscopes and investigated by several research groups. The main advantages and disadvantages of several active and passive techniques adapted to laparoscopy are described in this contribution. Additionally, a self-developed trinocular endoscope is described and evaluated.

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Orientation of Point Clouds for Complex Surfaces in Medical Surgery Using Trinocular Visual Odometry and Stereo Orb-Slam2

Kahmen

Haase

Lühmann

2020

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. In photogrammetry, computer vision and robotics, visual odometry (VO) and SLAM algorithms are well-known methods to estimate camera poses from image sequences. When dealing with unknown scenes there is often no reference data available and also the scene needs to be reconstructed for further analysis. In this contribution a trinocular visual odometry approach is implemented and compared to stereo VO and ORB-SLAM2 in an experimental setup imitating the scene of a knee replacement surgery. Two datasets are analysed. While a test-field provides excellent conditions for feature detection algorithms with its artificial texture assembled, extracted images show the knee joint itself solely in order to use only the homogenous, but in real application stable, region of the knee joint. The camera trajectories of VO and ORB-SLAM2 are transformed to corresponding coordinate systems and are subsequently evaluated. The tracking algorithms show poor quality when only the inappropriate surface of the knee is used but perform well when the artificial texture of the test-field is used. The third camera does not lead to a significant advantage in this setup using our implementation. Possible reasons, e.g. less overlap, are discussed in this contribution. Nevertheless, the quality of the oriented point clouds, obtained by trinocular dense matching, is less than 1mm for most of the analysed data. The experiment will be used to focus on further developments, e.g. dealing with specular reflections, and for evaluation purposes using different SLAM/ VO algorithms.

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Rectification and Robust Matching Using Oriented Image Triplets for Minimally Invasive Surgery

Cited by 3 publications

References 14 publications

Improving Image Matching by Reducing Surface Reflections Using Polarising Filter Techniques

Improving Image Matching by Reducing Surface Reflections Using Polarising Filter Techniques

Overview of Photogrammetric Measurement Techniques in Minimally Invasive Surgery Using Endoscopes

Orientation of Point Clouds for Complex Surfaces in Medical Surgery Using Trinocular Visual Odometry and Stereo Orb-Slam2

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