Monocular stereovision--a medical robotic application. The use of color.
Vincent Rodin, Alain Ayache · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1992
This work is related to medical robotics applied to endoscopic image processing. When operating, the surgeon uses both an endoscope and a color video camera but does not get any 3-D information of the analyzed cavity. The use of only one camera has led us to use the concept of axial stereovision. In this paper, we present a matching process using color information in order to recover the 3-D shapes of non-polyhedric objects (such as organs) with a zoom sensor.