TY - CHAP 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 ER - TY - CHAP A1 - Schmidt, Jochen A1 - Niemann, H. A1 - Vogt, F. T1 - Dense Disparity Maps in Real-Time with an Application to Augmented Reality T2 - Proceedings Sixth IEEE Workshop on Applications of Computer Vision (WACV 2002), pages 225-230, Orlando, FL USA N2 - This work presents a technique for computing dense disparity maps from a binocular stereo camera system. The methods are applied in an Augmented Reality setting for combining real and virtual worlds with proper occlusions. The proposed stereo correspondence technique is based oil area matching and facilitates an efficient strategy by using the concept of a three-dimensional similarity accumulator whereby occlusions are detected and object boundaries are extracted correctly. The main contribution of this paper is the way we fill the accumulator using absolute differences of images and computing a mean filter on these difference images. This. is. where the main advantages of the accumulator approach can be exploited, since all entries can be computed in parallel and thus extremely efficient. Additionally, we-perform an asymmetric correction step and a post-processing of the disparity maps that maintains object edges. KW - Augmented Reality (AR) KW - Layout KW - Camera KW - Real time systems Y1 - 2018 ER -