Abstract
Shape From Shading (SFS) algorithm has attracted many attentions in the Robot-Assisted Minimally Invasive Surgery (RAMIS) environment due to the superior texture-free characteristic. But this algorithm is limited to shape reconstruction rather than depth reconstruction. Unlike natural illumination environment, the main reason of this limitation in RAMIS environment is that the illumination condition does not calibrated. In this paper, the imaging principle, incorporating surface reflectance and camera parameter, is fully modeled. Based on the model and the practical environment of RAMIS, we present an online illumination estimation method. Without requiring additional equipment, our method only uses images captured from two positions to perform. The illumination estimation is accomplished based on a Gradient Descent formulation. The result and accuracy of the method is shown through synthetic image experiment.
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National Key R&D Program of China (No. 2017YFB1302901).
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Fan, J., Feng, Y., Mo, J., Wang, S., Liang, Q. (2021). Depth from Shading Based on Online Illumination Estimation Under RAMIS Environment. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_4
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