3D Reconstruction for Internal Organs Based on Improved Gray-Coded Structured Light

Yanjun Chen, Wangmeng Zuo, Zhaoxin Li, Kuanquan Wang

Abstract: Accurate 3D reconstruction for the operated object is very important in the minimally invasive surgery supervised by an endoscope. The preferred technology to reconstruct an object is structured light. We improve encoding scheme for a structured light system. To reduce the false detection, a pixel width of red is added between the green and black stripes in the Gray-coded patterns. Both the improved vertical and horizontal Gray-coded patterns are used to encode the object. A location based on the gray weighted centroid method is used to locate with sub-pixel accuracy. The experimental results show that by the proposed scheme accurate and robust reconstruction is obtained.