Three-dimensional reconstruction of endoscope images by a fast shape from shading method

Wang, Guo Hui; Han, Jiuqiang; Zhang, Xin-man

doi:10.1088/0957-0233/20/12/125801

Cited by 16 publications

(16 citation statements)

References 27 publications

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“…Experiments with medical real-world input images from endoscopy allow us to verify the useful properties of our approach, see e.g. [23,25] for a similar application of SfS.…”

Section: Introductionmentioning

confidence: 96%

Generalised Perspective Shape from Shading with Oren-Nayar Reflectance

Ju¹,

Tozza²,

Breuß³

et al. 2013

Procedings of the British Machine Vision Conference 2013

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In spite of significant advances in Shape from Shading (SfS) over the last years, it is still a challenging task to design SfS approaches that are flexible enough to handle a wide range of input scenes. In this paper, we address this lack of flexibility by proposing a novel model that extends the range of possible applications. To this end, we consider the class of modern perspective SfS models formulated via partial differential equations (PDEs). By combining a recent spherical surface parametrisation with the advanced non-Lambertian Oren-Nayar reflectance model, we obtain a robust approach that allows to deal with an arbitrary position of the light source while being able to handle rough surfaces and thus more realistic objects at the same time. To our knowledge, the resulting model is currently the most advanced and most flexible approach in the literature on PDE-based perspective SfS. Apart from deriving our model, we also show how the corresponding set of sophisticated Hamilton-Jacobi equations can be efficiently solved by a specifically tailored fast marching scheme. Experiments with medical real-world data demonstrate that our model works in practice and that is offers the desired flexibility.

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“…Experiments with medical real-world input images from endoscopy allow us to verify the useful properties of our approach, see e.g. [23,25] for a similar application of SfS.…”

Section: Introductionmentioning

confidence: 96%

Generalised Perspective Shape from Shading with Oren-Nayar Reflectance

Ju¹,

Tozza²,

Breuß³

et al. 2013

Procedings of the British Machine Vision Conference 2013

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“…Common to all modern practical SFS systems is a perspective camera model and a Lambertian reflectance model assumption, while the light source has been assumed to be, in turn, at infinity [14], or close to the surface either at the optical center [25] or away from the visual axis [16], [26]. For the SFS problem to be well-posed, it was proven that the light source has to be modeled close to the target surface [25], [16], [26] in order to take into account the light attenuation term proportional to the distance between the light source and the surface.…”

Section: B Shape-from-shading 3d Reconstructionmentioning

confidence: 99%

“…For the SFS problem to be well-posed, it was proven that the light source has to be modeled close to the target surface [25], [16], [26] in order to take into account the light attenuation term proportional to the distance between the light source and the surface.…”

Section: B Shape-from-shading 3d Reconstructionmentioning

confidence: 99%

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Intra-operative monocular 3D reconstruction for image-guided navigation in active locomotion capsule endoscopy

Ciuti

Visentini-Scarzanella

Dore

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Abstract-Wireless capsule endoscopy (WCE) can be considered an example of 'disruptive technology' since it represents a bright alternative to traditional diagnostic methodologies. However, currently available clinical products are passive devices whose locomotion is driven by natural peristalsis, with the drawback of failing to capture the images of potential pathological gastrointestinal tract regions, due to the impossibility to control the camera's motion and orientation. As a consequence, many research groups are working to develop active locomotion devices and endoscopic platforms that allow WCE to be performed in a totally controlled manner.In this paper we propose a system to reliably calibrate a Shape-from-Shading system to recover the unknown scale factor immediately prior to a WCE procedure. The system would allow to reconstruct in a metrically accurate fashion the surfaces obtained intraoperatively from the WCE capsule, which can be exploited for accurate trajectory planning and ultimately automatic WCE active capsule navigation. To the best of our knowledge, this is the first practical system for Shape-from-Shading calibration aimed at guidance applications that will finally be applied to an endoscopic active locomotion platform developed by the authors.

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“…Given information on light reflectance and illumination in a photographed scene, the aim of SfS is to compute based on the brightness variation the 3D structure of a depicted object from a single input image. SfS has a wide variety of applications, ranging from large scale problems such as astronomy [41] or terrain reconstruction [7] to small scale tasks such as dentistry [2] or endoscopy [34,51,52].…”

Section: Introductionmentioning

confidence: 99%

Direct Variational Perspective Shape from Shading with Cartesian Depth Parametrisation

Maurer

Breuß

et al. 2016

Mathematics and Visualization

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Most of today's state-of-the-art methods for perspective shape from shading are modelled in terms of partial differential equations (PDEs) of HamiltonJacobi type. To improve the robustness of such methods w.r.t. noise and missing data, first approaches have recently been proposed that seek to embed the underlying PDE into a variational framework with data and smoothness term. So far, however, such methods either make use of a radial depth parametrisation that makes the regularisation hard to interpret from a geometrical viewpoint or they consider indirect smoothness terms that require additional consistency constraints to provide valid solutions. Moreover the minimisation of such frameworks is an intricate task, since the underlying energy is typically non-convex. In this chapter we address all three of the aforementioned issues. First, we propose a novel variational model that operates directly on the Cartesian depth. In contrast to existing variational methods for perspective shape from shading this refers to both the data and the smoothness term. Moreover, we employ a direct second-order regulariser with edge-preservation property. This direct regulariser yields by construction valid solutions without requiring additional consistency constraints. Finally, we also propose a novel coarse-to-fine minimisation framework based on an alternating explicit scheme. This framework allows us to avoid local minima during the minimisation and thus to improve the accuracy of the reconstruction. Experiments show the good quality of our model as well as the usefulness of the proposed numerical scheme.

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Three-dimensional reconstruction of endoscope images by a fast shape from shading method

Cited by 16 publications

References 27 publications

Generalised Perspective Shape from Shading with Oren-Nayar Reflectance

Generalised Perspective Shape from Shading with Oren-Nayar Reflectance

Intra-operative monocular 3D reconstruction for image-guided navigation in active locomotion capsule endoscopy

Direct Variational Perspective Shape from Shading with Cartesian Depth Parametrisation

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