Light source position calibration method for photometric stereo in capsule endoscopy

Yang Hao, Marco Visentini-Scarzanella, Jing Li*, Peisen Zhang, Gastone Ciuti, Paolo Dario, Qiang Huang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

For photometric stereo in capsule endoscopy, calibration of light source is crucial for improving the precision of surface normal estimation. Therefore, this paper presents an improved planar-mirror-based light source position calibration method: from captured images of light source and detected poses of planar mirror, light paths are retraced from camera to light source, and position of light source is triangulated with least square method. The contribution of this paper is that a refraction model of the planar mirror is employed in the retracement of light paths, thus the bias of light paths caused by refraction can be compensated and the position of light source can be estimated more precisely. The results of simulation and experiment show that the proposed method provides higher calibration accuracy than the current planar mirror-based calibration method and can improve the precision of subsequent photometric stereo-based 3D reconstruction.

Original languageEnglish
Pages (from-to)789-801
Number of pages13
JournalAdvanced Robotics
Volume34
Issue number12
DOIs
Publication statusPublished - 17 Jun 2020

Keywords

  • Light source position calibration
  • capsule endoscopy
  • near point light source
  • photometric stereo
  • planar mirror

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