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On the 3D hollow organ cartography using 2D endoscopic images

Abstract : Structure from motion (SfM) algorithms represent an efficient means to construct extended 3D surfaces using images of a scene acquired from different viewpoints. SfM methods simultaneously determine the camera motion and a 3D point cloud lying on the surfaces to be recovered. Classical SfM algorithms use feature point detection and matching methods to track homologous points across the image sequences, each point track corresponding to a 3D point to be reconstructed. The SfM algorithms exploit the correspondences between homologous points to recover the 3D scene structure and the successive camera poses in an arbitrary world coordinate system. There exist different state-of-the-art SfM algorithms which can efficiently reconstruct different types of scenes, under the condition that the images include enough textures or structures. However, most of the existing solutions are inappropriate, or at least not optimal, when the sequences of images are without or only with few textures. This thesis proposes two dense optical flow (DOF)-based SfM solutions to reconstruct complex scenes using images with few textures and acquired under changing illumination conditions. It is notably shown how accurate DOF fields can be optimally used due to an image selection strategy which both maximizes the number and size of homologous point sets, and minimizes the errors in the homologous point localization. The accuracy of the proposed 3D cartography methods is assessed on phantoms with known dimensions. The robustness and the interest of the proposed methods are demonstrated on various complex medical scenes using a constant algorithm parameter set. The proposed solutions reconstructed organs seen in different medical examinations (epithelial surface of the inner stomach wall, inner epithelial bladder surface, and the skin surface in dermatology) and various imaging modalities (white light for all examinations, green-blue light in gastroscopy and fluorescence in cystoscopy).
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Submitted on : Monday, February 1, 2021 - 3:25:36 PM
Last modification on : Tuesday, February 2, 2021 - 3:22:35 AM


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  • HAL Id : tel-03127532, version 1



Tan-Binh Phan. On the 3D hollow organ cartography using 2D endoscopic images. Image Processing [eess.IV]. Université de Lorraine, 2020. English. ⟨NNT : 2020LORR0135⟩. ⟨tel-03127532⟩



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