Real-Time 3D Reconstruction in Minimally Invasive Surgery with Quasi-Dense Matching

被引：0

作者：

Zampokas, Georgios ^{[1
]}

Tsiolis, Konstantinos ^{[1
]}

Peleka, Georgia ^{[1
]}

Mariolis, Ioannis ^{[1
]}

Malasiotis, Sotiris ^{[1
]}

Tzovaras, Dimitrios ^{[1
]}

机构：

[1] Ctr Res & Technol Hellas, Informat Technol Inst, Thessaloniki, Greece

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON IMAGING SYSTEMS AND TECHNIQUES (IST) | 2018年

基金：

欧盟地平线“2020”;

关键词：

3D Reconstruction; Stereo Matching; Disparity Estimation; MIS; CUDA;

D O I：

暂无

中图分类号：

TB8 [摄影技术];

学科分类号：

0804 ;

摘要：

In this work, a method for 3D reconstruction of Minimally Invasive Surgery data in real-time is presented. It is formulated on top of the already established framework of Quasi-Dense Matching, optimizing its components for speed. First, it recovers a set of sparse features, which are matched robustly. Then, 3D information is propagated in a spatial neighbourhood, until similarity reaches a predefined threshold, to cover a semi-dense portion of operating field domain. Matching on dense level is achieved with Zero Mean Normalized Cross Correlation metric to establish correspondences. The algorithm is able to recover disparity maps with relatively small error, while maintaining real-time performance.

引用

页码：69 / 74

页数：6

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