Hand–eye calibration using a target registration error model

Autor: Burton Ma, Uditha L. Jayarathne, Elvis C. S. Chen, Terry M. Peters, Isabella Morgan
Rok vydání: 2017
Předmět:
visualisation techniques
tracker sensor
lcsh:Medical technology
target registration error model
TRE model
homologous point-line pairs
guided hand-eye calibration
Calibration (statistics)
Computer science
calibration measurements
monochromatic ball-tip stylus
image sensors
Image registration
Health Informatics
02 engineering and technology
Tracking (particle physics)
medical image processing
image fusion
camera tracking
030218 nuclear medicine & medical imaging
surgery
03 medical and health sciences
0302 clinical medicine
laparoscope
Health Information Management
endoscopes
0202 electrical engineering
electronic engineering
information engineering
Computer vision
Image sensor
Projection (set theory)
webcam
Image fusion
business.industry
Tracking system
calibration
image registration
Special Issue on Augmented Environments for Computer-Assisted Interventions
lcsh:R855-855.5
modern operating theatres
surgical cameras
020201 artificial intelligence & image processing
Artificial intelligence
Stylus
business
evaluated guided calibration
endoscopic camera
Zdroj: Healthcare Technology Letters
Medical Biophysics Publications
Healthcare Technology Letters (2017)
ISSN: 2053-3713
DOI: 10.1049/htl.2017.0072
Popis: Surgical cameras are prevalent in modern operating theatres and are often used as a surrogate for direct vision. Visualisation techniques (e.g. image fusion) made possible by tracking the camera require accurate hand–eye calibration between the camera and the tracking system. The authors introduce the concept of ‘guided hand–eye calibration’, where calibration measurements are facilitated by a target registration error (TRE) model. They formulate hand–eye calibration as a registration problem between homologous point–line pairs. For each measurement, the position of a monochromatic ball-tip stylus (a point) and its projection onto the image (a line) is recorded, and the TRE of the resulting calibration is predicted using a TRE model. The TRE model is then used to guide the placement of the calibration tool, so that the subsequent measurement minimises the predicted TRE. Assessing TRE after each measurement produces accurate calibration using a minimal number of measurements. As a proof of principle, they evaluated guided calibration using a webcam and an endoscopic camera. Their endoscopic camera results suggest that millimetre TRE is achievable when at least 15 measurements are acquired with the tracker sensor ∼80 cm away on the laparoscope handle for a target ∼20 cm away from the camera.
Databáze: OpenAIRE
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