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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74961
Title: | 深度視覺相機與窄視野彩色相機之校正方法 An Extrinsic Calibration for Depth Camera to Narrow Field of View Color Camera |
Authors: | Hao-Yu Chen 陳皓宇 |
Advisor: | 施吉昇 |
Keyword: | 內視鏡,深度資訊,相機校正,鏡面反射,真質, endoscopy,depth,calibration,specularly re?ection,ground truth, |
Publication Year : | 2019 |
Degree: | 碩士 |
Abstract: | 在內視鏡手術中,醫生常常只能以二維的影像資訊進行三維的手
術操作,增添了不必要的執行難度,如果能提供準確的三維資訊輔以 恰當的顯示方式,將可讓內視鏡手術操作更加容易。但現今內視鏡手 術環境下的深度預測演算法,還有許多情境是無法正確預測立體資訊 的,包含鏡像反射、變動劇烈的視差、手術器械造成的遮蔽、煙霧和 液體等。此外目前的定量評估方法也有一些限制,包含目標物體不能 形變、畫面無法有手術器械以及沒有直接的真質等。 因此,我們提出一個外部的深度相機和內視鏡鏡頭的校正方法,藉 此能提供包含影像與深度資訊的資料。之後,將能進一步以這樣的資 料進行深度預測類神經網路的訓練,以及更無限制的內視鏡情境深度 預測演算法的定量評估。 This work proposes a calibration method between a narrow field of view cameraandadepthcamerainanendoscope-likescenario. Anendoscopy-like scenario has several properties including limited specular reflective surface, a camera with a narrow field of view. Instead of pushing the accuracy of the target marker with low-resolution data, we propose a solution with a loss function. The proposed loss function utilizes all of the 3 dimensions points of the checkerboard measured with the depth camera, and calculates the distance between projected 3D positions onto 2D image surface and the color image. The final re-projected error is improved to average under 1 millimeters, and further trainingand evaluation of depth estimation algorithms could be performed. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74961 |
DOI: | 10.6342/NTU201904109 |
Fulltext Rights: | 有償授權 |
Appears in Collections: | 資訊網路與多媒體研究所 |
Files in This Item:
File | Size | Format | |
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ntu-108-1.pdf Restricted Access | 5.34 MB | Adobe PDF |
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