2024/10/19 by Raúl Iranzo, Iranzo, Raúl, Víctor M. Batlle +5 · 1 citation
Biochemistry, Genetics and Molecular Biology · Medicine · Neuroscience · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Ocular Disorders and Treatments #Ocular Surface and Contact Lens #Tactile and Sensory Interactions
paper · pdf · doi:10.48550/arxiv.2410.15065
openalex publication_date 2024/10/19 · openalex created_date 2024/11/06 · openalex updated_date 2026/07/28
Geometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms used are typically adaptations of those designed for external environments, resulting in 3D reconstructions with an unknown scale factor. For the first time, we propose a method to estimate the real metric scale of a 3D reconstruction from standard monocular endoscopic images without relying on application-specific learned priors. Our fully model-based approach leverages the near-light sources embedded in endoscopes, positioned at a small but nonzero baseline from the camera, in combination with the inverse-square law of light attenuation, to accurately recover the metric scale from scratch. This enables the transformation of any endoscope into a metric device, which is crucial for applications such as measuring polyps, stenosis, or assessing the extent of diseased tissue.