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Dense GPU-enhanced surface reconstruction from stereo endoscopic images for intraoperative registration
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10.1118/1.3681017
/content/aapm/journal/medphys/39/3/10.1118/1.3681017
http://aip.metastore.ingenta.com/content/aapm/journal/medphys/39/3/10.1118/1.3681017

Figures

Image of FIG. 1.
FIG. 1.

Image from a daVinci intervention and reconstructed point cloud.

Image of FIG. 2.
FIG. 2.

Outline of the surface reconstruction workflow.

Image of FIG. 3.
FIG. 3.

Comparison between the structure of the cpu and gpu version of the HRM: (a) cpu HRM structure; (b) cpu HRM recursion over whole image; (c) gpu HRM structure; and (d) gpu HRM recursion over overlapping sub images.

Image of FIG. 4.
FIG. 4.

gpu consistency check and disparity correction procedure.

Image of FIG. 5.
FIG. 5.

Hybrid cpu-gpu algorithm workflow.

Image of FIG. 6.
FIG. 6.

Simulation environment: (a) image from virtual camera; (b) disparity image; (c) overlay of virtual liver with reconstructed surface; and (d) side view of reconstructed surface.. [URL: http://dx.doi.org/10.1118/1.3681017.1]10.1118/1.3681017.1

Image of FIG. 7.
FIG. 7.

Selected frames with different textures: cpu, gpu, cpu-gpu, and both opencv surface reconstruction disparity images and disparity difference (>1 pixel) to ground truth disparities.

Image of FIG. 8.
FIG. 8.

Heart 1 sequence: (a) frame 5; (b) disparity image; (c) Reconstructed point cloud; and (d) Color-coded distance map (from green (error = 0 mm) to red (error = 2 mm)) between reconstructed surface and ground truth: blue = no comparable points found.

Tables

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TABLE I.

Parameterization of the evaluation with virtual image sequences.

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TABLE II.

Evaluation of the cpu, gpu, cpu-gpu, the cpu- and gpu-opencv surface reconstruction on nine image sequences from the simulation environment; best results in bold print.

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TABLE III.

Errors due to two error sources: Gaussian noise and poorly rectified images.

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TABLE IV.

Mean distance between reconstructed and ground truth point cloud for two image sequences of the silicone phantom and the cpu version, the cpu-gpu version and both opencv algorithms.

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TABLE V.

Run time comparison in ms between the cpu, the gpu, and the cpu-gpu version of the algorithms as well as both opencv correspondence analysis algorithms for left and right image with resolution of 320 × 240, 640 × 480, and 960 × 540.

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/content/aapm/journal/medphys/39/3/10.1118/1.3681017
2012-03-01
2014-04-24
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752b84549af89a08dbdd7fdb8b9568b5 journal.articlezxybnytfddd
Scitation: Dense GPU-enhanced surface reconstruction from stereo endoscopic images for intraoperative registration
http://aip.metastore.ingenta.com/content/aapm/journal/medphys/39/3/10.1118/1.3681017
10.1118/1.3681017
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