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colon fold contours

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1 results

Depth Estimation for Local Colon Structure in Monocular Capsule Endoscopy Based on Brightness and Camera Motion
Lei Xu, Jing Li, Yang Hao, Peisen Zhang, Gastone Ciuti, Paolo Dario, Qiang Huang
Journal:

Robotica / Volume 39 / Issue 2 / February 2021

Published online by Cambridge University Press:

27 May 2020, pp. 334-345
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We present a 3D reconstruction method using brightness and camera motion estimation for registering local colon structure in colonoscopy. The proposed method is based on reverse projection from 2D fold contours to 3D space, motion estimation from 3D reconstructed points between neighboring frames, and model registration to reconstruct the fold structure. On the synthetic colon, the average percentages of the reconstructed depth error and circumference error are about 14.2% and 15.2%, respectively. The accuracy is enough for the navigation and control in capsule robot. This work demonstrates that the proposed method is superior to the methods using single-frame-based brightness intensity.