Camera model and calibration procedure for oblique-viewing endoscope

Tetsuzo Yamaguchi, Masahiko Nakamoto, Yoshinobu Sato, Yoshikazu Nakajima, Kozo Konishi, Makoto Hashizume, Takashi Nishii, Nobuhiko Sugano, Hideki Yoshikawa, Kazuo Yonenobu, Shinichi Tamura

Research output: Contribution to journalConference article

16 Citations (Scopus)

Abstract

Oblique-viewing endoscopes (oblique scopes) are widely used medically. It is essential for certain procedures such as laparoscopy, arthroscopy, and sinus endoscopy. In an oblique scope, its viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has been developed yet. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai's calibration is performed at zero-rotation of the scope cylinder, and then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The precision of this estimation was demonstrated to have a significant effect on the overall calibration accuracy in the experimental evaluation especially with large rotation angles. The projection error in the image plane was around two pixels. The proposed method was shown to be clinically applicable.

Original languageEnglish
Pages (from-to)373-381
Number of pages9
JournalLecture Notes in Computer Science
Volume2879
Issue numberPART 2
Publication statusPublished - Dec 1 2003
EventMedical Image Computing and Computer-Assisted Intervention, MICCAI 2003 - 6th International Conference Proceedings - Montreal, Que., Canada
Duration: Nov 15 2003Nov 18 2003

Fingerprint

Endoscope
Endoscopy
Oblique
Calibration
Camera
Cameras
Laparoscopy
Angle
Camera Calibration
Model
Augmented Reality
Experimental Evaluation
Augmented reality
Rotating
Pixel
Projection
Pixels
Necessary
Zero

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Yamaguchi, T., Nakamoto, M., Sato, Y., Nakajima, Y., Konishi, K., Hashizume, M., ... Tamura, S. (2003). Camera model and calibration procedure for oblique-viewing endoscope. Lecture Notes in Computer Science, 2879(PART 2), 373-381.

Camera model and calibration procedure for oblique-viewing endoscope. / Yamaguchi, Tetsuzo; Nakamoto, Masahiko; Sato, Yoshinobu; Nakajima, Yoshikazu; Konishi, Kozo; Hashizume, Makoto; Nishii, Takashi; Sugano, Nobuhiko; Yoshikawa, Hideki; Yonenobu, Kazuo; Tamura, Shinichi.

In: Lecture Notes in Computer Science, Vol. 2879, No. PART 2, 01.12.2003, p. 373-381.

Research output: Contribution to journalConference article

Yamaguchi, T, Nakamoto, M, Sato, Y, Nakajima, Y, Konishi, K, Hashizume, M, Nishii, T, Sugano, N, Yoshikawa, H, Yonenobu, K & Tamura, S 2003, 'Camera model and calibration procedure for oblique-viewing endoscope', Lecture Notes in Computer Science, vol. 2879, no. PART 2, pp. 373-381.
Yamaguchi T, Nakamoto M, Sato Y, Nakajima Y, Konishi K, Hashizume M et al. Camera model and calibration procedure for oblique-viewing endoscope. Lecture Notes in Computer Science. 2003 Dec 1;2879(PART 2):373-381.
Yamaguchi, Tetsuzo ; Nakamoto, Masahiko ; Sato, Yoshinobu ; Nakajima, Yoshikazu ; Konishi, Kozo ; Hashizume, Makoto ; Nishii, Takashi ; Sugano, Nobuhiko ; Yoshikawa, Hideki ; Yonenobu, Kazuo ; Tamura, Shinichi. / Camera model and calibration procedure for oblique-viewing endoscope. In: Lecture Notes in Computer Science. 2003 ; Vol. 2879, No. PART 2. pp. 373-381.
@article{524ef04f204d4e72a92aa8dd7aadf7f1,
title = "Camera model and calibration procedure for oblique-viewing endoscope",
abstract = "Oblique-viewing endoscopes (oblique scopes) are widely used medically. It is essential for certain procedures such as laparoscopy, arthroscopy, and sinus endoscopy. In an oblique scope, its viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has been developed yet. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai's calibration is performed at zero-rotation of the scope cylinder, and then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The precision of this estimation was demonstrated to have a significant effect on the overall calibration accuracy in the experimental evaluation especially with large rotation angles. The projection error in the image plane was around two pixels. The proposed method was shown to be clinically applicable.",
author = "Tetsuzo Yamaguchi and Masahiko Nakamoto and Yoshinobu Sato and Yoshikazu Nakajima and Kozo Konishi and Makoto Hashizume and Takashi Nishii and Nobuhiko Sugano and Hideki Yoshikawa and Kazuo Yonenobu and Shinichi Tamura",
year = "2003",
month = "12",
day = "1",
language = "English",
volume = "2879",
pages = "373--381",
journal = "Lecture Notes in Computer Science",
issn = "0302-9743",
publisher = "Springer Verlag",
number = "PART 2",

}

TY - JOUR

T1 - Camera model and calibration procedure for oblique-viewing endoscope

AU - Yamaguchi, Tetsuzo

AU - Nakamoto, Masahiko

AU - Sato, Yoshinobu

AU - Nakajima, Yoshikazu

AU - Konishi, Kozo

AU - Hashizume, Makoto

AU - Nishii, Takashi

AU - Sugano, Nobuhiko

AU - Yoshikawa, Hideki

AU - Yonenobu, Kazuo

AU - Tamura, Shinichi

PY - 2003/12/1

Y1 - 2003/12/1

N2 - Oblique-viewing endoscopes (oblique scopes) are widely used medically. It is essential for certain procedures such as laparoscopy, arthroscopy, and sinus endoscopy. In an oblique scope, its viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has been developed yet. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai's calibration is performed at zero-rotation of the scope cylinder, and then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The precision of this estimation was demonstrated to have a significant effect on the overall calibration accuracy in the experimental evaluation especially with large rotation angles. The projection error in the image plane was around two pixels. The proposed method was shown to be clinically applicable.

AB - Oblique-viewing endoscopes (oblique scopes) are widely used medically. It is essential for certain procedures such as laparoscopy, arthroscopy, and sinus endoscopy. In an oblique scope, its viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has been developed yet. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai's calibration is performed at zero-rotation of the scope cylinder, and then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The precision of this estimation was demonstrated to have a significant effect on the overall calibration accuracy in the experimental evaluation especially with large rotation angles. The projection error in the image plane was around two pixels. The proposed method was shown to be clinically applicable.

UR - http://www.scopus.com/inward/record.url?scp=19944427554&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=19944427554&partnerID=8YFLogxK

M3 - Conference article

VL - 2879

SP - 373

EP - 381

JO - Lecture Notes in Computer Science

JF - Lecture Notes in Computer Science

SN - 0302-9743

IS - PART 2

ER -