We show that for a plane imaged by an endoscope the specular isophotes are concentric circles on the scene plane, which appear as nested ellipses in the image. We show that these ellipses can be detected and used to estimate the plane's normal direction, forming a normal reconstruction method, which we validate on simulated data. In practice, the anatomical surfaces visible in endoscopic images are locally planar. We use our method to show that the surface normal can thus be reconstructed for each of the numerous specularities typically visible on moist tissues. We show results on laparoscopic and colonoscopic images.
翻译:我们显示,对于用内窥镜成像的平面来说,脉冲同位素是场面上的同心圆圈,作为嵌套的椭圆在图像中出现。我们显示,这些椭圆可以被检测出来,用来估计飞机的正常方向,形成一种正常的重建方法,我们在模拟数据中加以验证。实际上,内窥镜图像中可见的解剖表面是局部平面。我们使用的方法表明,表层常态可以因此为潮湿组织通常可见的众多特征中的每一种进行重建。我们展示了腹腔和肠形图像的结果。