endoscope exploration on knee surface l.
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Endoscope Exploration on Knee Surface
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  1. Endoscope Exploration on Knee Surface 15-862 Computed Photography Final Project Chenyu Wu

  2. Motivation • Endoscope is widely used in minimally invasive surgery

  3. Problem • The size and distortion of endoscope images limit its use.

  4. Our Goal • Stitch the endoscope images onto a 3D surface to get a bigger view of the knee surface

  5. Solution • Calibration • Image: Correct the distortion • Camera: Get intrinsic parameters • Map onto surface • Put trackers on the endoscope and bone • Compute the transformation between camera and bone • Texture mapping

  6. Image Calibration • Basic idea – warp! rectify! • Generate a set of checker board and grid images • Define the correspondences between original image and endoscope image • Compute Homograph for each corresponding images • Same endoscope, consider least square to get the best fit homograph

  7. Test images (checkerboard)

  8. Endoscope images (checkerboard)

  9. Test images (grid)

  10. Endoscope Images (grid)

  11. Warp result

  12. Camera Calibration • Determine intrinsic parameters • Given a set of control points with known x,y,z and u,v • Least Square

  13. Transformation between camera and bone • Determine extrinsic parameters

  14. Texture mapping • Compute the transformation from image to bone (surface) • Given each image, we can find the corresponding vertex and local triangles on the surface • Warp!

  15. References • C. ARLOS. H. ENRIQUE. Q. UARTUCCI. F. ORSTER. C. LÉSIO. L. T. OZZI, “Toward 3d reconstruction of endoscope images using shape from shading”, Proceedings SIBGRAPI 2000, XIII Brazilian Symposium on Computer Graphics and Image Processing, Gramado, RS, pp. 90-96, October, 2000. • C. Soler, M. Cani, A. Angelidis, “Hierarchical pattern mapping”, ACM Trans. On Graphics (TOG), 21(3): 673-680, 2002.