3D reconstrcution and Visual Odometry for stereo capsule endoscope

3D reconstrcution and Visual Odometry for stereo capsule endoscope
Here are steps of the paper:

Introduction

We have done fully dense 3D map reconstruction for each frame using Shape from Shading. To get a fully map of the inner organ, we stitched them using Visual Odometry.
To compare results of map estimation we used 3D scanner and to compare 6 Dof Estimation we used Optitrack. As stomach model we used rigid model with oil to get a real
like condition.

Literature Review for 3D reconstruction and/or Visual Odometry in Endoscopy

What is done in filed Endoscopy/Capsule Endoscopy in terms of 3D reconstruction and Visual Odometry.

Our Hardware System

Capsule System. Camera Specifications, Stomach Model, Reflection oil
Laser 3D scanner, Optitrack

Our Method Pipeline

-Preprocessing: Reflection Cancellation, Noise Reduction, Edge Enhancement
-Calibration with Chessboard
-Image Undistortion
-Feature Extraction with Local Template Matching
-Depth Map with Shape from Shading Lambertian Surface Reconstruction
-Point Cloud Stitching

Results for precision of the map with comparison
-Speed
-Accuracy of 6 DoF Motion Estimation
-Accuracy of Shape from Shading 3D map reconstrcution

Future Steps

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