Abstract
3D endoscopic systems have been researched and developed to measure the actual shape and size of living tissues for the purpose of remote surgery and diagnosis, to name a few. For such systems, active stereo that consists of a camera and a pattern projector (i.e., structured light systems) is a promising solution because of simple system with high accuracy. Recently, an active-stereo-based 3D endoscope system has been proposed, in which many practical problems were solved such as shallow focal range of the pattern projector or strong diffusion by living tissues. To use the laser pattern projector for endoscopic systems, two fundamental issues arise; a limited dynamic range of the endoscopic camera and a calibration of the system. In this paper, we proposed a new high dynamic range (HDR) image synthesis technique for a laser pattern projector as well as an auto-calibration technique for dynamic motion. Quantitative experiments are conducted to show the effectiveness of the method followed by a demonstration using real endoscopic system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Furukawa, R., Masutani, R., Miyazaki, D., Baba, M., Hiura, S., Visentini-Scarzanella, M., Morinaga, H., Kawasaki, H., Sagawa, R.: 2-dof auto-calibration for a 3D endoscope system based on active stereo. In: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 7937–7941, August 2015
Furukawa, R., Sanomura, Y., Tanaka, S., Yoshida, S., Sagawa, R., Visentini-Scarzanella, M., Kawasaki, H.: 3D endoscope system using doe projector. In: The 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2016) (2016)
Nagakura, T., Michida, T., Hirao, M., Kawahara, K., Yamada, K.: The study of three-dimensional measurement from an endoscopic images with stereo matching method. In: Automation Congress, 2006. WAC 2006. World, pp. 1–4, July 2006
Stoyanov, D., Scarzanella, M.V., Pratt, P., Yang, G.-Z.: Real-time stereo reconstruction in robotically assisted minimally invasive surgery. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010. LNCS, vol. 6361, pp. 275–282. Springer, Heidelberg (2010). doi:10.1007/978-3-642-15705-9_34
Visentini-Scarzanella, M., Stoyanov, D., Yang, G.: Metric depth recovery from monocular images using shape-from-shading and specularities. In: ICIP, Orlando, USA, pp. 25–28 (2012)
Maurice, X., Albitar, C., doignon, C., de Mathelin, M.: A structured light-based laparoscope with real-time organs’ surface reconstruction for minimally invasive surgery. In: 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5769–5772, August 2012
Reiter, A., Sigaras, A., Fowler, D., Allen, P.K.: Surgical structured light for 3D minimally invasive surgical imaging. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1282–1287, September 2014
Grasa, O., Bernal, E., Casado, S., Gil, I., Montiel, J.: Visual slam for handheld monocular endoscope. IEEE Trans. Med. Imaging 33(1), 135–146 (2014)
Köhler, T., Haase, S., Bauer, S., Wasza, J., Kilgus, T., Maier-Hein, L., Feußner, H., Hornegger, J.: ToF meets RGB: novel multi-sensor super-resolution for hybrid 3-D endoscopy. In: Mori, K., Sakuma, I., Sato, Y., Barillot, C., Navab, N. (eds.) MICCAI 2013. LNCS, vol. 8149, pp. 139–146. Springer, Heidelberg (2013). doi:10.1007/978-3-642-40811-3_18
Penne, J., Schaller, C., Engelbrecht, R., Maier-Hein, L., Schmauss, B., Meinzer, H.P., Hornegger, J.: Laparoscopic quantitative 3D endoscopy for image guided surgery. In: Bildverarbeitung für die Medizin, Citeseer, pp. 16–20 (2010)
Furukawa, R., Aoyama, M., Hiura, S., Aoki, H., Kominami, Y., Sanomura, Y., Yoshida, S., Tanaka, S., Sagawa, R., Kawasaki, H.: Calibration of a 3d endoscopic system based on active stereo method for shape measurement of biological tissues and specimen. In: EMBC, pp. 4991–4994 (2014)
Debevec, P.E., Malik, J.: Recovering high dynamic range radiance maps from photographs. In: SIGGRAPH 2008, pp. 1–10. ACM, New York (2008)
Kalantari, N.K., Shechtman, E., Barnes, C., Darabi, S., Goldman, D.B., Sen, P.: Patch-based high dynamic range video. ACM Trans. Graph. 32(6), 202–1 (2013)
Eilertsen, G., Mantiuk, R., Unger, J.: A comparative review of tone-mapping algorithms for high dynamic range video. In: Computer Graphics Forum, vol. 36, pp. 565–592. Wiley Online Library (2017)
Forsyth, D., Ponce, J.: Computer Vision: A Modern Approach, 2nd edn. Pearson Education Inc., London (2011)
Furukawa, R., Kawasaki, H.: Laser range scanner based on self-calibration techniques using coplanarities and metric constraints. Comput. Vis. Image Underst. 113(11), 1118–1129 (2009)
Furukawa, R., Kawasaki, H.: Self-calibration of multiple laser planes for 3D scene reconstruction. In: 3DPVT, pp. 200–207 (2006)
Sagawa, R., Ota, Y., Yagi, Y., Furukawa, R., Asada, N., Kawasaki, H.: Dense 3D reconstruction method using a single pattern for fast moving object. In: ICCV (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Furukawa, R. et al. (2017). 3D Endoscope System Using Asynchronously Blinking Grid Pattern Projection for HDR Image Synthesis. In: Cardoso, M., et al. Computer Assisted and Robotic Endoscopy and Clinical Image-Based Procedures. CARE CLIP 2017 2017. Lecture Notes in Computer Science(), vol 10550. Springer, Cham. https://doi.org/10.1007/978-3-319-67543-5_2
Download citation
DOI: https://doi.org/10.1007/978-3-319-67543-5_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-67542-8
Online ISBN: 978-3-319-67543-5
eBook Packages: Computer ScienceComputer Science (R0)