| Hand-eye and radial distortion calibration for rigid endoscopes. | |
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MedLine Citation:
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PMID: 23303645 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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BACKGROUND: In this paper, we propose a non-linear calibration method for hand-eye system equipped with a camera undergoing radial distortion as the rigid endoscope. Whereas classic methods propose either a separated estimation of the camera intrinsics and the hand-eye transform or a mixed non-linear estimation of both hand-eye and camera intrinsics assuming a pin-hole model, the proposed approach enables a simultaneous refinement of the hand-eye and the camera parameters including the distortion factor with only three frames of the calibrated pattern. METHODS: Our approach relies on three steps: (i) linear initial estimates of hand-eye and radial distortion with minimum number of frames: one single image to estimate the radial distortion and three frames to estimate the initial hand-eye transform, (ii) we propose to express the camera extrinsic with respect to hand-eye and world-grid transforms and (iii) we run bundle adjustment on the reprojection error with respect to the distortion parameters, the camera intrinsics and the hand-eye transform. RESULTS: Our method is quantitatively compared with state-of-the-art linear and non-linear methods. We show that our method provides a 3D reconstruction error of approximately 5% of the size of the 3D shape. CONCLUSIONS: Our experimental results show the effectiveness of simultaneously estimating hand-eye and distortion parameters for 3D reconstruction. Copyright © 2013 John Wiley & Sons, Ltd. |
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Authors:
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Abed Malti; Joao Pedro Barreto |
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Publication Detail:
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Type: JOURNAL ARTICLE Date: 2013-1-10 |
Journal Detail:
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Title: The international journal of medical robotics + computer assisted surgery : MRCAS Volume: - ISSN: 1478-596X ISO Abbreviation: Int J Med Robot Publication Date: 2013 Jan |
Date Detail:
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Created Date: 2013-1-10 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101250764 Medline TA: Int J Med Robot Country: - |
Other Details:
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Languages: ENG Pagination: - Citation Subset: - |
Copyright Information:
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Copyright © 2013 John Wiley & Sons, Ltd. |
Affiliation:
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ALCoV-ISIT, UMR 6284 CNRS/Université d'Auvergne, Clermont-Ferrand, France. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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