TY - CONF A1 - Schmidt, Jochen A1 - Vogt, F. A1 - Niemann, H. T1 - Nonlinear Refinement of Camera Parameters using an Endoscopic Surgery Robot T2 - Proceedings of IAPR Conference on Machine Vision Applications (MVA) N2 - We present an Approach for non linea roptimization of the parameters of an endoscopic camera mounted on a surgery robot. The goal is to generate a depth map for each image in order to enhance the quality of medical light fields. The pose information provided by the robot is used as an initialization, where especially the orientation isi naccurate. Refinement of intrinsic and extrinsic camera parameters is performed by minimizing the back-projectionerror of 3-D points that are reconstructed by triangulation from image Feature stracked over an image sequence. Optimization of the camera parameters results in an enhancement of Rendering Quality in two ways: More accurate parameters lead to better interpolation as well as to better depth maps for approximating the scenegeometry. KW - Endoscopic Surgery Robot KW - endoscopic camera KW - minimalinvasive surgery Y1 - 2018 UR - https://opus4.kobv.de/opus4-rosenheim/frontdoor/index/index/docId/739 ER -