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Three dimensional point cloud hole repairing strategy for binocular stereo reconstruction
Nie EJ(聂二杰)1; Li J(李杰)1,2; Zhang RM(张如美)2; Cao L(曹蕾)2; Sun, Liangliang1; Liu H(刘浩)1,2
Department机器人学研究室
Conference Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Conference DateDecember 5-8, 2017
Conference PlaceMacau, China
Author of SourceBeijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
Source PublicationProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2017
Pages2456-2461
Indexed ByEI
EI Accession number20182905575918
Contribution Rank2
ISBN978-1-5386-3741-8
Keyword3D reconstruction hole repair interpolation triangulation point cloud surface
AbstractRobotic-assisted minimally invasive surgery (RMIS) has attracted the attention of the surgeon and patient with high precision, minimizing trauma, dexterity and fast recovery time. The three-dimensional reconstruction of tissue structure and morphology during operation is an important prerequisite to guide the operation accurately and safely. However, hole problem still exists in the reconstruction process that will affect the accuracy and effectiveness of the surgery procedure. To address this problem, the paper presents a new hole repair method based on spatial surface scatter interpolation for 3D tissue reconstruction. In order to better close to the real structure, we have retained the surrounding concave-convex in the three-dimensional reconstruction, meanwhile, compared with the existing Delaunay triangulation method. The results indicate the proposed method can achieve better repair effects for various holes, with more smooth merits.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22122
Collection机器人学研究室
Corresponding AuthorLi J(李杰)
Affiliation1.Shenyang Jianzhu University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Nie EJ,Li J,Zhang RM,et al. Three dimensional point cloud hole repairing strategy for binocular stereo reconstruction[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau. New York:IEEE,2017:2456-2461.
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