This paper presents a new pq-space based 2D/3D registration method for camera pose estimation for endoscope tracking. The proposed technique involves the extraction of surface normals for each pixel of the video images by using a linear local shape-from-shading algorithm derived from the unique camera/lighting constrains of the endoscopes. We illustrate how to use the derived pq-space distribution to match to that of the 3D tomographic model, and demonstrate the accuracy of the proposed method by using an electro-magnetic tracker and a specially constructed airway phantom. Comparison to existing intensity-based techniques has also been made, which highlights the major strength of the proposed method in its robustness against illumination and tissue deformation. © Springer-Verlag Berlin Heidelberg 2003.
CITATION STYLE
Deligianni, F., Chung, A., & Yang, G. Z. (2003). pq-Space based 2D/3D registration for endoscope tracking. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2878, 311–318. https://doi.org/10.1007/978-3-540-39899-8_39
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