An endoscopic 3D scanner based on structured light

作者：Schmalz Christoph^*; Forster Frank; Schick Anton; Angelopoulou Elli

来源：Medical Image Analysis, 2012, 16(5): 1063-1072.

DOI：10.1016/j.media.2012.04.001

• Endoscopy
• 3D scanning
• Catadioptric camera
• Single Shot Structured Light

We present a new endoscopic 3D scanning system based on Single Shot Structured Light. The proposed design makes it possible to build an extremely small scanner. The sensor head contains a catadioptric camera and a pattern projection unit. The paper describes the working principle and calibration procedure of the sensor. The prototype sensor head has a diameter of only 3.6 mm and a length of 14 mm. It is mounted on a flexible shaft. The scanner is designed for tubular cavities and has a cylindrical working volume of about 30 mm length and 30 mm diameter. It acquires 3D video at 30 frames per second and typically generates approximately 5000 3D points per frame. By design, the resolution varies over the working volume, but is generally better than 200 mu m. A prototype scanner has been built and is evaluated in experiments with phantoms and biological samples. The recorded average error on a known test object was 92 mu m.

• 出版日期2012-7