A Miniature Binocular Endoscope with Local Feature Matching and Stereo Matching for 3D Measurement and 3D Reconstruction

Sensors
Di WangXiang Cheng

Abstract

As the traditional single camera endoscope can only provide clear images without 3D measurement and 3D reconstruction, a miniature binocular endoscope based on the principle of binocular stereoscopic vision to implement 3D measurement and 3D reconstruction in tight and restricted spaces is presented. In order to realize the exact matching of points of interest in the left and right images, a novel construction method of the weighted orthogonal-symmetric local binary pattern (WOS-LBP) descriptor is presented. Then a stereo matching algorithm based on Gaussian-weighted AD-Census transform and improved cross-based adaptive regions is studied to realize 3D reconstruction for real scenes. In the algorithm, we adjust determination criterions of adaptive regions for edge and discontinuous areas in particular and as well extract mismatched pixels caused by occlusion through image entropy and region-growing algorithm. This paper develops a binocular endoscope with an external diameter of 3.17 mm and the above algorithms are applied in it. The endoscope contains two CMOS cameras and four fiber optics for illumination. Three conclusions are drawn from experiments: (1) the proposed descriptor has good rotation invariance, distinctiveness a...Continue Reading

References

Jul 4, 2009·IEEE Transactions on Pattern Analysis and Machine Intelligence·Heiko Hirschmüller, Daniel Scharstein

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Citations

Apr 25, 2019·Sensors·Jun ChenShuchun Wang

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Software Mentioned

Point Cloud Library ( PCL )
MeshLab
Visual
Studio
SemiGlob
Matlab

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