Photometric single-view dense 3D reconstruction in endoscopy
Víctor M. Batlle,J.M.M. Montiel,Juan D. Tardós,Víctor M. Batlle,J.M.M. Montiel,Juan D. Tardós
Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular images, leading to systems lacking true scale. In this paper, we exploit the controlled lighting in colonoscopy to achieve the first in-vivo 3D reconstruction of the human colon using photometric stereo on a calibrated monocu...
