Towards disparity joint upsampling for robust stereoscopic endoscopic scene reconstruction in robotic prostatectomy

Xiongbiao Luo; A. Jonathan McLeod; Uditha L. Jayarathne; Stephen E. Pautler; Christopher M. Schlacta; Terry M. Peters

doi:10.1117/12.2216969

18 March 2016 Towards disparity joint upsampling for robust stereoscopic endoscopic scene reconstruction in robotic prostatectomy

Xiongbiao Luo, A. Jonathan McLeod, Uditha L. Jayarathne, Stephen E. Pautler, Christopher M. Schlacta, Terry M. Peters

Author Affiliations +

Proceedings Volume 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling; 97860Q (2016) https://doi.org/10.1117/12.2216969
Event: SPIE Medical Imaging, 2016, San Diego, California, United States

Abstract

Three-dimensional (3-D) scene reconstruction from stereoscopic binocular laparoscopic videos is an effective way to expand the limited surgical field and augment the structure visualization of the organ being operated in minimally invasive surgery. However, currently available reconstruction approaches are limited by image noise, occlusions, textureless and blurred structures. In particular, an endoscope inside the body only has the limited light source resulting in illumination non-uniformities in the visualized field. These limitations unavoidably deteriorate the stereo image quality and hence lead to low-resolution and inaccurate disparity maps, resulting in blurred edge structures in 3-D scene reconstruction. This paper proposes an improved stereo correspondence framework that integrates cost-volume filtering with joint upsampling for robust disparity estimation. Joint bilateral upsampling, joint geodesic upsampling, and tree filtering upsampling were compared to enhance the disparity accuracy. The experimental results demonstrate that joint upsampling provides an effective way to boost the disparity estimation and hence to improve the surgical endoscopic scene 3-D reconstruction. Moreover, the bilateral upsampling generally outperforms the other two upsampling methods in disparity estimation.

Citation Download Citation

Xiongbiao Luo, A. Jonathan McLeod, Uditha L. Jayarathne, Stephen E. Pautler, Christopher M. Schlacta, and Terry M. Peters "Towards disparity joint upsampling for robust stereoscopic endoscopic scene reconstruction in robotic prostatectomy", Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97860Q (18 March 2016); https://doi.org/10.1117/12.2216969

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE