@inproceedings{c5e2c0240c6d44aabc253082077450f4,
title = "A robust mosaicing method for robotic assisted minimally invasive surgery",
abstract = "Constructing a mosaicing image with broader field-of-view has become an interesting topic in image guided diagnosis and treatment. In this paper, we present a robust method for video mosaicing in order to provide more guiding information for robotic assisted minimally invasive surgery. Outliers involved in the feature dataset are removed using trifocal constraints, homographies between images are estimated with L∞ -norm optimization and chained together in a practical way. Finally refinement based on bundle adjustment is applied to minimize the error between reprojection and feature measurement. The proposed method has been tested with endoscopic images from Totally Endoscopic Coronary Artery Bypass (TECAB) surgery. The results showed our method performs better than other typical methods in terms of accuracy and robustness to deformation.",
keywords = "Bundle adjustment, Homography, Robotic assisted minimally invasive surgery, Trifocal tensor, Video mosaicing",
author = "Mingxing Hu and Hawkes, \{David J.\} and Penney, \{Graeme P.\} and Daniel Rueckert and Edwards, \{Philip J.\} and Fernando Bello and Michael Figl and Roberto Casula",
year = "2010",
language = "English",
isbn = "9789898425010",
series = "ICINCO 2010 - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics",
pages = "206--211",
booktitle = "ICINCO 2010 - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics",
note = "7th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2010 ; Conference date: 15-06-2010 Through 18-06-2010",
}