Abstract
We present a way to register the uterus in monocular laparoscopy in realtime using a novel two-phase approach. This differs significantly to SLAM, which is currently the leading approach for registration in MIS when scenes are approximately rigid. In the first phase we construct a 3D model of the uterus using dense SfM. This involves a method for semi-automatically masking the uterus from background structures in a set of reference frames, which we call Mask Bootstrapping from Motion (MBM). In the second phase the 3D model is registered to the live laparoscopic video using a novel wide-baseline approach that uses many texture maps to capture the real changes in appearance of the uterus. Capturing these changes means that registration can be performed reliably without needing temporal priors, which are needed in SLAM. This simplifies registration and leads to far fewer tuning parameters. We show that our approach significantly outperforms SLAM on an in vivo dataset comprising three human uteri.
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Collins, T., Pizarro, D., Bartoli, A., Canis, M., Bourdel, N. (2013). Realtime Wide-Baseline Registration of the Uterus in Laparoscopic Videos Using Multiple Texture Maps. In: Liao, H., Linte, C.A., Masamune, K., Peters, T.M., Zheng, G. (eds) Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions. MIAR AE-CAI 2013 2013. Lecture Notes in Computer Science, vol 8090. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40843-4_18
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DOI: https://doi.org/10.1007/978-3-642-40843-4_18
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