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Depth Estimation for Local Colon Structure in Monocular Capsule Endoscopy Based on Brightness and Camera Motion

Published online by Cambridge University Press:  27 May 2020

Lei Xu,
Jing LiOpen the ORCID record for Jing Li[Opens in a new window],
Yang Hao,
Peisen Zhang,
Gastone Ciuti,
Paolo Dario and
Qiang Huang
Lei Xu
Affiliation:
Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China. E-mail: 7420180002@bit.edu.cn
Jing Li*
Affiliation:
Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China. E-mail: 7420180002@bit.edu.cn
Yang Hao
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China. E-mails: 3120150088@bit.edu.cn, zpsbit@foxmail.com, qhuang@bit.edu.cn
Peisen Zhang
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China. E-mails: 3120150088@bit.edu.cn, zpsbit@foxmail.com, qhuang@bit.edu.cn
Gastone Ciuti
Affiliation:
Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China. E-mail: 7420180002@bit.edu.cnThe BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy. E-mails: gastone.ciuti@santannapisa.it, paolo.dario@santannapisa.it
Paolo Dario
Affiliation:
Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China. E-mail: 7420180002@bit.edu.cnThe BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy. E-mails: gastone.ciuti@santannapisa.it, paolo.dario@santannapisa.it
Qiang Huang
Affiliation:
Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China. E-mail: 7420180002@bit.edu.cnSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China. E-mails: 3120150088@bit.edu.cn, zpsbit@foxmail.com, qhuang@bit.edu.cn
*
*Corresponding author. E-mail: 10902016@bit.edu.cn
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Summary

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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.

Keywords

3D reconstructionMotion estimationColon fold contoursModel registration

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021, pp. 334 - 345
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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