LiDARによる高密度3D再構成：ブタ摘出組織での比較研究
Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue
ブタの摘出組織を用いて、LiDARによる表面再構成の精度を検証し、学習ベースのステレオマッチングと比較して高精度・低遅延・高フレームレート・照明や距離への頑健性を示した。また、近赤外光の組織透過が筋肉で深度オフセットを生むことを報告した。
著者: Guido Caccianiga, Julian Nubert, Marco Hutter, Katherine J. Kuchenbecker
分類: eess.IV, cs.CV, cs.RO
原文アブストラクト
New sensing technologies and more advanced processing algorithms are transforming computer-integrated surgery. While researchers are actively investigating depth sensing and 3D reconstruction for vision-based surgical assistance, it remains difficult to achieve real-time, accurate, and robust 3D representations of the abdominal cavity for minimally invasive surgery. Thus, this work uses quantitative testing on fresh ex-vivo porcine tissue to thoroughly characterize the quality with which a 3D laser-based time-of-flight sensor (lidar) can perform anatomical surface reconstruction. Ground-truth surface shapes are captured with a commercial laser scanner, and the resulting signed error fields are analyzed using rigorous statistical tools. When compared to modern learning-based stereo matching from endoscopic images, time-of-flight sensing demonstrates higher precision, lower processing delay, higher frame rate, and superior robustness against sensor distance and poor illumination. Furthermore, we report on the potential negative effect of near-infrared light penetration on the accuracy of lidar measurements across different tissue samples, identifying a significant measured depth offset for muscle in contrast to fat and liver. Our findings highlight the potential of lidar for intraoperative 3D perception and point toward new methods that combine complementary time-of-flight and spectral imaging.
