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The object's surface structure can be obtained from an image sequence taken through a conventional CCD endoscope. This paper reports clinical experimental results of the method. The accuracy of the estimation is studied and a method to estimate the reliability of the reconstructed shape is also described.

We propose a new method to measure surLace topography using a monocular endoscope. The surface structure is obtained up to a scale factor from an image sequence taken through a conventional CCD endoscope. The scale factor is determined by a photometric method, and the actual size of the object can be determined. The principle and experimental results are presented.