Imperial College London
Alternate

ProfessorAndrewDavison

Faculty of Engineering, Department of Computing

Professor of Robot Vision
 
 
 
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Contact

 

+44 (0)20 7594 8316a.davison Website

 
 
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Assistant

 

Ms Lucy Atthis +44 (0)20 7594 8259

 
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Location

 

303William Penney LaboratorySouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Chang:2014:10.1007/978-3-319-07521-1_2,
author = {Chang, PL and Handa, A and Davison, AJ and Stoyanov, D and Edwards, PE},
doi = {10.1007/978-3-319-07521-1_2},
pages = {11--20},
title = {Robust real-time visual odometry for stereo endoscopy using dense quadrifocal tracking},
url = {http://dx.doi.org/10.1007/978-3-319-07521-1_2},
year = {2014}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Visual tracking in endoscopic scenes is known to be a difficult task due to the lack of textures, tissue deformation and specular reflection. In this paper, we devise a real-time visual odometry framework to robustly track the 6-DoF stereo laparoscope pose using the quadrifocal relationship. The instant motion of a stereo camera creates four views which can be constrained by the quadrifocal geometry. Using the previous stereo pair as a reference frame, the current pair can be warped back by minimising a photometric error function with respect to a camera pose constrained by the quadrifocal geometry. Using a robust estimator can further remove the outliers caused by occlusion, deformation and specular highlights during the optimisation. Since the optimisation uses all pixel data in the images, it results in a very robust pose estimation even for a textureless scene. The quadrifocal geometry is initialised by using real-time stereo reconstruction algorithm which can be efficiently parallelised and run on the GPU together with the proposed tracking framework. Our system is evaluated using a ground truth synthetic sequence with a known model and we also demonstrate the accuracy and robustness of the approach using phantom and real examples of endoscopic augmented reality. © 2014 Springer International Publishing Switzerland.
AU  - Chang,PL
AU  - Handa,A
AU  - Davison,AJ
AU  - Stoyanov,D
AU  - Edwards,PE
DO  - 10.1007/978-3-319-07521-1_2
EP  - 20
PY  - 2014///
SN  - 0302-9743
SP  - 11
TI  - Robust real-time visual odometry for stereo endoscopy using dense quadrifocal tracking
UR  - http://dx.doi.org/10.1007/978-3-319-07521-1_2
ER  -
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