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Proceedings Paper

Towards disparity joint upsampling for robust stereoscopic endoscopic scene reconstruction in robotic prostatectomy
Author(s): Xiongbiao Luo; A. Jonathan McLeod; Uditha L. Jayarathne; Stephen E. Pautler; Christopher M. Schlacta; Terry M. Peters
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Paper 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.

Paper Details

Date Published: 18 March 2016
PDF: 10 pages
Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97860Q (18 March 2016); doi: 10.1117/12.2216969
Show Author Affiliations
Xiongbiao Luo, Robarts Research Institute, Western Univ. (Canada)
A. Jonathan McLeod, Robarts Research Institute, Western Univ. (Canada)
Uditha L. Jayarathne, Robarts Research Institute, Western Univ. (Canada)
Stephen E. Pautler, Western Univ. (Canada)
Christopher M. Schlacta, Western Univ. (Canada)
Terry M. Peters, Robarts Research Institute, Western Univ. (Canada)

Published in SPIE Proceedings Vol. 9786:
Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling
Robert J. Webster III; Ziv R. Yaniv, Editor(s)

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