Nonlinear Refinement of Camera Parameters using an Endoscopic Surgery Robot

  • 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.

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Metadaten
Author:Jochen SchmidtORCiD, F. Vogt, H. Niemann
Parent Title (English):Proceedings of IAPR Conference on Machine Vision Applications (MVA)
Document Type:Conference Proceeding
Language:English
Publication Year:2002
Tag:Endoscopic Surgery Robot; endoscopic camera; minimalinvasive surgery
faculties / departments:Fakultät für Informatik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 000 Informatik, Informationswissenschaft, allgemeine Werke