Abstract

In this paper, we propose an active scanning system using multiple projectors and cameras to acquire a dense entire shape of the object with a single scan (a.k.a. oneshot scan). One of the potential application of the system is to capture a moving object with high frame-rate. Since the pattern used for oneshot scan is usually complicated and those patterns interfere each other if they are projected on the same object, it is difficult to use multiple sets of them for entire shape acquisition. In addition, at the end of the closed loop, errors on each scan are accumulated, resulting in large gaps between shapes. To solve the problem, we propose a oneshot shape reconstruction method using a projector projecting a static pattern of parallel lines with one or two colors. Since each projector projects just parallel lines with a small number of colors, those patterns are easily decomposed and detected even if those patterns are projected multiple times on the same object. We also propose a kind of multi-view reconstruction algorithm for the proposed projector-camera system. In the experiment, we actually built a system which consists of six projectors and six cameras and dense shapes of entire objects were successfully reconstructed.

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Background and study aims  Polyp size measurement is an important diagnostic step during gastrointestinal endoscopy, and is mainly performed by visual inspection. However, lack of depth perception and objective reference points are acknowledged factors contributing to measurement errors in polyp size. In this paper, we describe the proof-of-concept of a polyp measurement device based on structured light technology for future endoscopes. Patients and methods  Measurement accuracy, time, user confidence, and satisfaction were evaluated for polyp size assessment by (a) visual inspection, (b) open biopsy forceps of known size, (c) ruled snare, and (d) structured light probe, for a total of 392 independent polyp measurements in ex vivo porcine stomachs. Results  Visual assessment resulted in a median estimation error of 2.2 mm, IQR = 2.6 mm. The proposed probe can reduce the error to 1.5 mm, IQR = 1.67 mm ( P  = 0.002, 95 %CI) and its performance was found to be statistically similar to using forceps for reference ( P  = 0.81, 95 %CI) or ruled snare ( P  = 0.99, 95 %CI), while not occluding the tool channel. Timing performance with the probe was measured to be on average 54.75 seconds per polyp. This was significantly slower than visual assessment (20.7 seconds per polyp, P  = 0.005, 95 %CI) but not significantly different from using a snare (68.5 seconds per polyp, P  = 0.73, 95 %CI). However, the probe’s timing performance was partly due to lens cleaning problems in our preliminary design. Reported average satisfaction on a 0 – 10 range was highest for the proposed probe (7.92), visual assessment (7.01), and reference forceps (7.82), while significantly lower for snare users with a score of 4.42 ( P  = 0.035, 95 %CI). Conclusions  The common practice of visual assessment of polyp size was found to be significantly less accurate than tool-based assessment, but easy to carry out. The proposed technology offers an accuracy on par with using a reference tool or ruled snare with the same satisfaction levels of visual assessment and without occluding the tool channel. Further study will improve the design to reduce the operating time by integrating the probe within the scope tip.

3D scanning of moving objects has many applications, for example, marker-less motion capture, analysis on fluid dynamics, object explosion and so on. One of the approach to acquire accurate shape is a projector-camera system, es pecially the methods that reconstructs a shape by using a single image with static pattern is suitable for capturing fast moving object. In this paper, we propose a method that uses a grid pattern consisting of sets of parallel lines. The pattern is spatially encoded by a periodic color pat tern. While informations are sparse in the camera image, the proposed method extracts the dense (pixel-wise) phase informations from the sparse pattern. As the resuit, con tinuous regions in the camera images can be extracted by analyzing the phase. Since there remain one DOF for each region, we propose the linear solution to eliminate the DOF by using geometric informations of the devices, i.e. epipo lar constraint. In addition, solution space is .finite because projected pattern consists of parallel lines with same inter vals, the linear equation can be efficiently solved by integer least square method. In this paper, the formulations for both single and multiple projectors are presented. We evaluated the accuracy of correspondences and showed the compari son with respect to the number of projectors by simulation. Finally, the dense 3D reconstruction of moving objects are presented in the experiments.