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JACIII Vol.27 No.6 pp. 1216-1229
doi: 10.20965/jaciii.2023.p1216
(2023)

Research Paper:

An Automatic and Robust Visual SLAM Method for Intra-Abdominal Environment Reconstruction

Guodong Wei*1 ORCID Icon, Weili Shi*1,*2, Guanyuan Feng*1,*2 ORCID Icon, Yu Ao*1,*2 ORCID Icon, Yu Miao*1,*2 ORCID Icon, Wei He*1,*2, Tao Chen*3, Yao Wang*4, Bai Ji*5, and Zhengang Jiang*1,*2,† ORCID Icon

*1School of Computer Science and Technology, Changchun University of Science and Technology
No.7089 Weixing Road, Chaoyang District, Changchun, Jilin 130022, China

*2Zhongshan Institute, Changchun University of Science and Technology
No.16 Huizhan East Road, Torch Development Zone, Zhongshan, Guangdong 528437, China

*3Department of General Surgery, Nanfang Hospital, Southern Medical University
No.1023 Shatai South Road, Baiyun District, Guangzhou, Guangdong 510515, China

*4Department of General Surgery, Zhongshan City People’s Hospital
No.2 Sunwen East Road, Central City District, Zhongshan, Guangdong 528403, China

*5Department of Hepatobiliary and Pancreatic Surgery, The First Hospital of Jilin University
No.71 Xinmin Street, Chaoyang District, Changchun, Jilin 130012, China

Corresponding author

Received:
July 27, 2023
Accepted:
August 28, 2023
Published:
November 20, 2023
Keywords:
stereo laparoscope, 3D reconstruction, stereo matching, feature tracking, kernel correlation filter
Abstract

Three-dimensional (3D) surface reconstruction is used to solve the problem of the narrow field of view in laparoscopy. It can provide surgeons or computer-assisted surgery systems with real-time complete internal abdominal anatomy. However, rapid changes in image depth, less texture, and specular reflection pose a challenge for the reconstruction. It is difficult to stably complete the reconstruction process using feature-based simultaneous localization and mapping (SLAM) method. This paper proposes a robust laparoscopic 3D surface reconstruction method using SLAM, which can automatically select appropriate parameters for stereo matching and robustly find matching point pairs for laparoscope motion estimation. The changing trend of disparity maps is used to predict stereo matching parameters to improve the quality of the disparity map. Feature patch extraction and tracking are selected to replace feature point extraction and matching in motion estimation, which reduces its failure and interruption in feature-based SLAM. The proposed feature patch matching method is suitable for parallel computing, which can improve its computing speed. Evaluation results on public in vivo and ex vivo porcine abdominal video data show the efficiency and robustness of our 3D surface reconstruction approach.

Cite this article as:
G. Wei, W. Shi, G. Feng, Y. Ao, Y. Miao, W. He, T. Chen, Y. Wang, B. Ji, and Z. Jiang, “An Automatic and Robust Visual SLAM Method for Intra-Abdominal Environment Reconstruction,” J. Adv. Comput. Intell. Intell. Inform., Vol.27 No.6, pp. 1216-1229, 2023.
Data files:
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